Stability of the D-OSKIL Oscillation Suppression Mechanism for Oil Well Drillstrings

The presence of harmful stick-slip oscillations in oil well drillstrings has attracted the attention of the control community in recent years. In this paper, we present stability proofs for new weight on bit (W_oB) control law of the type introduced in the work of Canudas-de-Wit et al. (2005). We show that the resulting feedback system of the proposed law is globally asymptotically stable. Simulations showing the typical response profiles obtained from the control algorithm designed are also presented