Eliminating stick-slip vibrations in drill-strings with a dual-loop control strategy optimized by the CRO-SL algorithm

Jorge Pérez-Aracil * (Corresponding Author), Carlos Camacho Gómez, Emiliano Pereira, Vahid Vaziri, Sumeet S. Aphale, Sancho Salcedo Sanz

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)
4 Downloads (Pure)


Friction-induced stick-slip vibrations are one of the major causes for down-hole drill-string failures. Consequently, several nonlinear models and control approaches have been proposed to solve this problem. This work proposes a dual-loop control strategy. The inner loop damps the vibration of the system, eliminating the limit cycle due to nonlinear friction. The outer loop achieves
the desired velocity with a fast time response. The optimal tuning of the control parameters is carried out with a multi-method ensemble meta-heuristic, the Coral Reefs Optimisation algorithm with Substrate Layer (CRO-SL). It is an evolutionary-type algorithm that combines different search strategies within a single population, obtaining a robust, high-performance algorithm to tackle hard optimisation problems. An application example based on a real nonlinear dynamics model of a drill-string illustrates that the controller optimised by the CRO-SL achieves excellent performance in terms of stick-slip vibrations cancellation, fast time response, robustness to system parameter uncertainties and chattering phenomenon prevention.
Original languageEnglish
Article number1526
Number of pages16
Issue number13
Early online date29 Jun 2021
Publication statusPublished - 29 Jun 2021

Bibliographical note

Funding: This work was partially supported by the Spanish Ministerial Commission of Science and Technology (MICYT) through project number TIN2017-85887-C2-2-P
Acknowledgments: The authors would like to thank Marian Wiercigroch and Vahid Vaziri from the Centre for Applied Dynamics Research, University of Aberdeen, for providing the realistic drill-string parameters used in this work.


  • stick-slip
  • drill-strings
  • vibration control
  • coral reefs optimisation
  • meta-heuristic


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