Autosoft Journal

Online Manuscript Access

Quad-Rotor Directional Steering System Controller Design Using Gravitational Search Optimization



Directional Steering System (DSS) has been established for well drilling in the oilfield in order to accomplish high reservoir productivity and to improve accessibility of oil reservoirs in complex locations. In this paper, a novel feedback linearization controller to cancel the nonlinear dynamics of a DSS is proposed. The proposed controller design problem is formulated as an optimization problem for optimal settings of the controller feedback gains. Gravitational Search Algorithm (GSA) is developed to search for optimal settings of the proposed controller. The objective function considered is to minimize the tracking error and drilling efforts. In this study, the DSS considered has 4 downhole motors. The robustness of the proposed GSA-based approach for the controller design is demonstrated. The simulation results of the considered 4-rotor DSS is presented and the effectiveness of the proposed controller is confirmed.



Total Pages: 11
Pages: 795-805


Manuscript ViewPdf Subscription required to access this document

Obtain access this manuscript in one of the following ways

Already subscribed?

Need information on obtaining a subscription? Personal and institutional subscriptions are available.

Already an author? Have access via email address?


Volume: 24
Issue: 4
Year: 2018

Cite this document


Baojiang, Zhao, and Li Shiyong. "Ant Colony Optimization Algorithm and Its Application to Neuro-Fuzzy Controller Design." Journal of Systems Engineering and Electronics 18.3 (2007): 603-610. Crossref. Web.

Bourgoyne, A.T., and F.S. Young. "A Multiple Regression Approach to Optimal Drilling and Abnormal Pressure Detection." Society of Petroleum Engineers Journal 14.04 (1974): 371-384. Crossref. Web.

Bourgoyne A.D. Society of Petroleum Engineers

Brantly J.E. History of oil well drilling, by Brantly

Chiroma, Haruna et al. "A Review on Artificial Intelligence Methodologies for the Forecasting of Crude Oil Price." Intelligent Automation & Soft Computing 22.3 (2016): 449-462. Crossref. Web.

Cordón, O., S. Damas, and J. Santamaría. "A Fast and Accurate Approach for 3D Image Registration Using the Scatter Search Evolutionary Algorithm." Pattern Recognition Letters 27.11 (2006): 1191-1200. Crossref. Web.

Precup, Radu-Emil et al. "Fuzzy Logic-Based Adaptive Gravitational Search Algorithm for Optimal Tuning of Fuzzy-Controlled Servo Systems." IET Control Theory & Applications 7.1 (2013): 99-107. Crossref. Web.

Dorigo, M., V. Maniezzo, and A. Colorni. "Ant System: Optimization by a Colony of Cooperating Agents." IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics) 26.1 (1996): 29-41. Crossref. Web.

Downton G. Control Applications (CCA)

Du, Weilin, and Bin Li. "Multi-Strategy Ensemble Particle Swarm Optimization for Dynamic Optimization." Information Sciences 178.15 (2008): 3096-3109. Crossref. Web.

Farmer, J.Doyne, Norman H Packard, and Alan S Perelson. "The Immune System, Adaptation, and Machine Learning." Physica D: Nonlinear Phenomena 22.1-3 (1986): 187-204. Crossref. Web.

Tan, Ying, Yuhui Shi, and Hongwei Mo, eds. "Advances in Swarm Intelligence." Lecture Notes in Computer Science (2013): n. pag. Crossref. Web.

Han, XiaoHong et al. "Feature Subset Selection by Gravitational Search Algorithm Optimization." Information Sciences 281 (2014): 128-146. Crossref. Web.

Hashim, H. A., and M. A. Abido. "Fuzzy Controller Design Using Evolutionary Techniques for Twin Rotor MIMO System: A Comparative Study." Computational Intelligence and Neuroscience 2015 (2015): 1-11. Crossref. Web.

Haugen J. Oil and Gas Journal

Kennedy, J., and R. Eberhart. "Particle Swarm Optimization." Proceedings of ICNN”95 - International Conference on Neural Networks n. pag. Crossref. Web.

Khadanga, Rajendra Ku, and Jitendriya Ku Satapathy. "Time Delay Approach for PSS and SSSC Based Coordinated Controller Design Using Hybrid PSO-GSA Algorithm." International Journal of Electrical Power & Energy Systems 71 (2015): 262-273. Crossref. Web.

Khalil H.K. Nonlinear systems

Kim, Dong Hwa, Ajith Abraham, and Jae Hoon Cho. "A Hybrid Genetic Algorithm and Bacterial Foraging Approach for Global Optimization." Information Sciences 177.18 (2007): 3918-3937. Crossref. Web.

Kirk DE. Optimal Control Theory

Kirkpatrick, S., C. D. Gelatt, and M. P. Vecchi. "Optimization by Simulated Annealing." Science 220.4598 (1983): 671-680. Crossref. Web.

Nezamabadi-pour, Hossein, Saeid Saryazdi, and Esmat Rashedi. "Edge Detection Using Ant Algorithms." Soft Computing 10.7 (2005): 623-628. Crossref. Web.

Niknam, Taher, Faranak Golestaneh, and Ahmadreza Malekpour. "Probabilistic Energy and Operation Management of a Microgrid Containing Wind/photovoltaic/fuel Cell Generation and Energy Storage Devices Based on Point Estimate Method and Self-Adaptive Gravitational Search Algorithm." Energy 43.1 (2012): 427-437. Crossref. Web.

Rafsanjani, Marjan Kuchaki, and Mohammad Bagher Dowlatshahi. "Using Gravitational Search Algorithm for Finding Near-Optimal Base Station Location in Two-Tiered WSNs." International Journal of Machine Learning and Computing (2012): 377-380. Crossref. Web.

Rashedi, Esmat, Hossein Nezamabadi-pour, and Saeid Saryazdi. "GSA: A Gravitational Search Algorithm." Information Sciences 179.13 (2009): 2232-2248. Crossref. Web.

Di Chio, Cecilia et al., eds. "Applications of Evolutionary Computation." Lecture Notes in Computer Science (2011): n. pag. Crossref. Web.

Sun, Genyun et al. "A Novel Hybrid Algorithm of Gravitational Search Algorithm with Genetic Algorithm for Multi-Level Thresholding." Applied Soft Computing 46 (2016): 703-730. Crossref. Web.

Tan, Xuejun, and Bir Bhanu. "Fingerprint Matching by Genetic Algorithms." Pattern Recognition 39.3 (2006): 465-477. Crossref. Web.

Xue Y. Intelligent Automation & Soft Computing

Yiyong Y.Y.Y. Chinese Control and Decision Conference


ISSN PRINT: 1079-8587
ISSN ONLINE: 2326-005X
DOI PREFIX: 10.31209
10.1080/10798587 with T&F
IMPACT FACTOR: 0.652 (2017/2018)
Journal: 1995-Present


TSI Press
18015 Bullis Hill
San Antonio, TX 78258 USA
PH: 210 479 1022
FAX: 210 479 1048