@Article{10798587.2017.1342414,
AUTHOR = {M. A. Kamel, M. A. Abido, Moustafa Elshafei},
TITLE = {Quad-Rotor Directional Steering System Controller Design Using Gravitational  Search Optimization},
JOURNAL = {Intelligent Automation \& Soft Computing},
VOLUME = {24},
YEAR = {2018},
NUMBER = {4},
PAGES = {795--805},
URL = {http://www.techscience.com/iasc/v24n4/39806},
ISSN = {2326-005X},
ABSTRACT = {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.},
DOI = {10.1080/10798587.2017.1342414}
}