Attitude Control of Stabilized Platform Based on Deep Deterministic Policy Gradient with Disturbance Observer
A rotary steerable drilling system is an advanced drilling technology, with stabilized platform tool face attitude control being a critical component. Due to a multitude of downhole interference factors, coupled with nonlinearities and uncertainties, challenges arise in model establishment and attit...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-11-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/21/12022 |
| _version_ | 1797632146474532864 |
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| author | Aiqing Huo Xue Jiang Shuhan Zhang |
| author_facet | Aiqing Huo Xue Jiang Shuhan Zhang |
| author_sort | Aiqing Huo |
| collection | DOAJ |
| description | A rotary steerable drilling system is an advanced drilling technology, with stabilized platform tool face attitude control being a critical component. Due to a multitude of downhole interference factors, coupled with nonlinearities and uncertainties, challenges arise in model establishment and attitude control. Furthermore, considering that stabilized platform tool face attitude determines the drilling direction of the entire drill bit, the effectiveness of tool face attitude control and nonlinear disturbances, such as friction interference, will directly impact the precision and success of drilling tool guidance. In this study, a mathematical model and a friction model of the stabilized platform are established, and a Disturbance-Observer-Based Deep Deterministic Policy Gradient (DDPG_DOB) control algorithm is proposed to address the friction nonlinearity problem existing in the rotary steering drilling stabilized platform. The numerical simulation results illustrate that the stabilized platform attitude control system based on DDPG_DOB can effectively suppress friction interference, improve non-linear hysteresis, and demonstrate strong anti-interference capability and good robustness. |
| first_indexed | 2024-03-11T11:33:46Z |
| format | Article |
| id | doaj.art-9a5407caca66402c9c3866b37716dc2a |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T11:33:46Z |
| publishDate | 2023-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-9a5407caca66402c9c3866b37716dc2a2023-11-10T14:59:32ZengMDPI AGApplied Sciences2076-34172023-11-0113211202210.3390/app132112022Attitude Control of Stabilized Platform Based on Deep Deterministic Policy Gradient with Disturbance ObserverAiqing Huo0Xue Jiang1Shuhan Zhang2College of Electronic Engineering, Xi’an Shiyou University, Xi’an 710065, ChinaCollege of Electronic Engineering, Xi’an Shiyou University, Xi’an 710065, ChinaCollege of Computer and Information Engineering, Xinjiang Agricultural University, Urumqi 830052, ChinaA rotary steerable drilling system is an advanced drilling technology, with stabilized platform tool face attitude control being a critical component. Due to a multitude of downhole interference factors, coupled with nonlinearities and uncertainties, challenges arise in model establishment and attitude control. Furthermore, considering that stabilized platform tool face attitude determines the drilling direction of the entire drill bit, the effectiveness of tool face attitude control and nonlinear disturbances, such as friction interference, will directly impact the precision and success of drilling tool guidance. In this study, a mathematical model and a friction model of the stabilized platform are established, and a Disturbance-Observer-Based Deep Deterministic Policy Gradient (DDPG_DOB) control algorithm is proposed to address the friction nonlinearity problem existing in the rotary steering drilling stabilized platform. The numerical simulation results illustrate that the stabilized platform attitude control system based on DDPG_DOB can effectively suppress friction interference, improve non-linear hysteresis, and demonstrate strong anti-interference capability and good robustness.https://www.mdpi.com/2076-3417/13/21/12022stabilized platformattitude controldisturbance observerdeep reinforcement learning |
| spellingShingle | Aiqing Huo Xue Jiang Shuhan Zhang Attitude Control of Stabilized Platform Based on Deep Deterministic Policy Gradient with Disturbance Observer Applied Sciences stabilized platform attitude control disturbance observer deep reinforcement learning |
| title | Attitude Control of Stabilized Platform Based on Deep Deterministic Policy Gradient with Disturbance Observer |
| title_full | Attitude Control of Stabilized Platform Based on Deep Deterministic Policy Gradient with Disturbance Observer |
| title_fullStr | Attitude Control of Stabilized Platform Based on Deep Deterministic Policy Gradient with Disturbance Observer |
| title_full_unstemmed | Attitude Control of Stabilized Platform Based on Deep Deterministic Policy Gradient with Disturbance Observer |
| title_short | Attitude Control of Stabilized Platform Based on Deep Deterministic Policy Gradient with Disturbance Observer |
| title_sort | attitude control of stabilized platform based on deep deterministic policy gradient with disturbance observer |
| topic | stabilized platform attitude control disturbance observer deep reinforcement learning |
| url | https://www.mdpi.com/2076-3417/13/21/12022 |
| work_keys_str_mv | AT aiqinghuo attitudecontrolofstabilizedplatformbasedondeepdeterministicpolicygradientwithdisturbanceobserver AT xuejiang attitudecontrolofstabilizedplatformbasedondeepdeterministicpolicygradientwithdisturbanceobserver AT shuhanzhang attitudecontrolofstabilizedplatformbasedondeepdeterministicpolicygradientwithdisturbanceobserver |