Parametric analysis of a sliding-mode controller to suppress drill-string stick-slip vibration

Vahid Vaziri* (Corresponding Author), Ibukunolu Oludamilola Oladunjoye, Marcin Kapitaniak, Sumeet S. Aphale, Marian Wiercigroch

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

14 Citations (Scopus)
5 Downloads (Pure)


Despite a significant research effort to understand and mitigate stick-slip in drill-strings, this problem yet to be solved. In this work, a comprehensive parametric robustness analysis of the sliding mode controller has hitherto been performed. First, a model verification and extensive parametric analysis of the open-loop model is presented. This is followed by a detailed parametric analysis of the sliding-mode controller based closed-loop system for two cases, (i) an ideal actuator with no delay or constraint and (ii) a realistic actuator with delay or/and constraint. It is shown that though the proposed controller works robustly across a wide range of parameters, in the absence of delay, it fails in the presence of a delay, thereby limiting its practical application. Experimental results are included to support these claims. This work underlines the importance of including the inherent system characteristics during the control design process. Furthermore, the parametric analysis presented here is aimed to act as a blue-print for testing the efficacy of relevant control schemes to be proposed in the future.

Original languageEnglish
Pages (from-to)2475-2492
Number of pages18
Early online date10 Nov 2020
Publication statusPublished - Dec 2020

Bibliographical note

Open Access via the Springer Compact Agreement


  • drill string
  • stick-slip
  • sliding-mode control
  • parametric analysis
  • robustness
  • delay
  • Stick-slip
  • Parametric analysis
  • Drill string
  • Robustness
  • Sliding-mode control
  • Delay


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