This paper presents a constrained finite horizon model predictive control (MPC) scheme for regulation of the annular pressure in a well during managed pressure drilling from a floating vessel subject to heave motion. In addition the robustness of a controller to deal with heave disturbances despite uncertainties in the friction factor and bulk modulus is investigated. The stochastic model descr...

A new design of nonlinear model predictive controller (NMPC) is proposed for managed pressure drilling (MPD) system. The NMPC is based on output feedback control architecture and employs offset-free formulation proposed in [1]. NMPC uses active set method for computing control inputs. The controller implements an automatic switching from constant bottom hole pressure (CBHP) regulation to flow c...

Managed pressure drilling is a sophisticated pressure control method which is intended to meet increasingly high demands in drilling operations in the oil and gas industry. With this method, the well is pressurized and the drilling mud is released through a control choke which can be used to actively control/reject pressure variations. Such a control system needs to handle several disturbances,...

We give a detailed view of estimation and control problems raised by the drilling process where the distributed nature of the system cannot be ignored. In particular, we focus on the transport phenomena in Managed Pressure Drilling (MPD) and UnderBalanced Operations (UBO), as well as the time-delay mechanisms of the mechanical stick-slip vibrations. These industrial challenges raise increasingl...

Managed pressure drilling (MPD) is an essential technology for safe and efficient in deep high-temperature high-pressure formations with narrow safety windows. However, the complex conditions wells make mechanism of multiphase flow annulus complicated increase difficulty accurate prediction bottomhole (BHP). Recently, increasing volume research shows that intelligent means accurately predicting...

It is not possible to directly measure the total mass of gas and liquid in the annulus and geological properties of the reservoir during petroleum exploration and production drilling. Therefore, these parameters and states must be estimated by online estimators with proper measurements. This paper describes a nonlinear Moving Horizon Observer to estimate the annular mass of gas and liquid, and ...