Abstract: The disclosed embodiments include systems and methods to perform automated drilling for both surface and downhole control. The method includes receiving a curvature reference set point, and calculating a curvature error with respect to the curvature reference set point. The method also includes providing the curvature error to a linear matrix inequalities based robust linear quadratic regulator controller. The method further includes determining one or more steering commands based on an output of the linear matrix inequalities based robust linear quadratic regulator controller. The method further includes providing the one or more steering commands to be implemented by a drilling tool during a drilling operation.

Abstract: A method that may comprise disposing a bottom hole assembly into a formation, wherein the bottom hole assembly comprises a mud motor, identifying a first segmented data set for a slide mode of the mud motor, and identifying a second segmented data set for a rotate mode of the mud motor. The method may further comprise calibrating the mud motor at least in part using a Reversible Jump Markov Chain Monte Carlo (RJMCMC), wherein the RJMCMC uses at least in part the first segmented data set and the second segmented data set.

Abstract: A method for calibrating a steering model may comprise estimating an initial condition for one or more variables in the steering model and calibrating the steering model with a Markov Chain Monte Carlo Simulation (MCMC). A drilling system may comprise a bottom hole assembly, a drill string connected to the bottom hole assembly, and an information handling system connected to the bottom hole assembly. The information handling system may be configured to process one or more measurements from the bottom hole assembly, calibrate a steering model based at least in part on the one or more measurements, adjust a control logic based at least in part on the steering model, and adjust the bottom hole assembly based at least in part on the control logic.

Abstract: A method that may comprise disposing a bottom hole assembly into a formation, wherein the bottom hole assembly comprises a mud motor, identifying a first segmented data set for a slide mode of the mud motor, and identifying a second segmented data set for a rotate mode of the mud motor. The method may further comprise calibrating the mud motor at least in part using a Reversible Jump Markov Chain Monte Carlo (RJMCMC), wherein the RJMCMC uses at least in part the first segmented data set and the second segmented data set.

Abstract: A computer-implemented method for drilling a curve section of a wellbore in a subsurface formation. The method comprises obtaining a curvature setpoint. The method comprises obtaining drilling process feedback from a drilling assembly drilling the curve section of the wellbore. The method comprises updating a scheduling parameter vector based on the drilling process feedback. The method comprises updating a controller, wherein the controller is configured with the scheduling parameter vector. The method comprises determining an error based on the curvature setpoint and the drilling process feedback. The method comprises inputting the error into the controller. The method comprises determining, via the controller, steering decisions based on the error and the scheduling parameter vector.

Abstract: Systems and methods are provided for performing directional drilling. An example method can include receiving, by a surface controller, a well plan for performing directional drilling of a wellbore; receiving, by the surface controller, an estimate for at least one drilling parameter that is based on a model of a bottom hole assembly (BHA) configured to perform directional drilling of the wellbore; and determining, by the surface controller, a steering force and a weight-on-bit (WOB) for drilling the wellbore, wherein the steering force and the WOB are based on the well plan and the estimate for the at least one drilling parameter.

Abstract: Techniques for controlling a trajectory of a mud motor directional drill are disclosed. A system receives one or more inputs pertaining to constraints for a wellbore in a mud motor drilling operation. The system constructs, as a function of the one or more inputs, a discretized well depth horizon. One or more binary slide and rotate commands for controlling a directional drill within the wellbore is generated based on an analysis of the discretized well depth horizon. The system controls the directional drill according to the one or more binary slide and rotate commands.

Abstract: Systems and methods of the present disclosure are directed to systems and methods for controlling a wellbore drilling apparatus where the system may include a surface controller and a downhole controller. In certain instances, control of the drilling apparatus may be transferred from the surface controller to the downhole controller. The control of the drilling apparatus may be transferred to the downhole controller as the surface control monitors operation of the drilling operation. The surface controller may also send a command that transfers control of the drilling apparatus from the downhole controller to the surface controller.

Abstract: Systems and methods are provided for performing closed loop, fully autonomous directional drilling using a drilling and steering system. An example method can include receiving, by a surface controller, a well plan for performing directional drilling of a wellbore; determining, based on the well plan, a first drilling instruction for directing a drilling and steering system to drill the wellbore; sending the first drilling instruction to a downhole controller that is coupled to the drilling and steering system; receiving at least one sensor measurement from a downhole sensor that is associated with the drilling and steering system; determining, based on the well plan and the at least one sensor measurement, a second drilling instruction for directing the drilling and steering system to drill the wellbore; and sending the second drilling instruction to the downhole controller that is coupled to the drilling and steering system.

Abstract: A system and method of steering a drill string when forming a wellbore in a subterranean formation. The method includes identifying two or more parameters associated with steering the drill string in a subject well; determining, via a statistical model, individual contributions to a tool yield model by each of the identified parameters; and suggesting, based on the statistical model and on current values of the identified parameters, one or more changes in the identified parameters, the changes sufficient to alter a trajectory of the drill string in the subject well.

Abstract: The disclosed embodiments include systems and methods to perform automated drilling for both surface and downhole control. The method includes receiving a curvature reference set point, and calculating a curvature error with respect to the curvature reference set point. The method also includes providing the curvature error to a linear matrix inequalities based robust linear quadratic regulator controller. The method further includes determining one or more steering commands based on an output of the linear matrix inequalities based robust linear quadratic regulator controller. The method further includes providing the one or more steering commands to be implemented by a drilling tool during a drilling operation.

Abstract: Aspects of the subject technology relate to systems and methods for improving mud motor trajectory controls. Systems and methods are provided for receiving control data from a mud motor trajectory controller, predefining a plurality of control modes based on the control data from the mud motor trajectory controller, achieving desired slide rotate ratios and toolface angles by solving an established objective function that mathematically represents operational preferences and system constraints for a selected control mode of the plurality of control modes, generating a modulation procedure that converts the slide-rotate ratios to a binary slide and rotate control sequence, and applying the modulation procedure to generate the binary slide and rotate control sequence.

Abstract: A curvature cruise controller has been designed to maintain a desired curvature when drilling a curve section of a wellbore. The curvature cruise controller utilizes a model-based controller (such as an LQR controller) to generate steering inputs based on the desired curvature and attitude setpoints and real time measurements. The model-based controller is configured with a wellbore propagation model that characterizes the tool's response dynamics. The curvature cruise controller utilizes real time drilling operation parameters measurements to tune the model-based controller.

Abstract: Current disclosure proposes calibration methodology that uses the knowledge learned from historical data and real-time data to update a simplified physics-based borehole propagation model for real time steering control of a directional drilling system. The proposed methodology updates model parameters of the simplified physics-based model in real time through a process of setting up and optimizing an objective function, which indicates the difference between the estimated trajectory and the feedback from the real-time data. Penalizing terms, which prevent the parameters from deviating drastically from the prior knowledge of the parameter, and various components of the objective function are learned from the historical data. As a result, the updated model can accurately estimate and predict the system behavior allowing an input sequence of the system to be accurately mapped to the output response.

Abstract: A method and system for estimating a wellbore curvature. The method may include disposing a rotary steerable system (RSS) into a borehole, storing a real-time curvature estimation for the borehole in an information handling system, wherein the information handling system is disposed on the RSS, taking a first attitude measurement at a first sensor, and taking a second attitude measurement at a second sensor. The method may further include applying a filter to at least the first attitude measurement and the second attitude measurement to form a filtered measurement set, performing a curvature estimation with the filtered measurement set to form an estimated curvature signal, comparing the estimated curvature signal to a curvature set point to find a difference, and adjusting at least one operating parameter of the RSS based on the difference.

Abstract: A computer-implemented method for drilling a curve section of a wellbore in a subsurface formation. The method comprises obtaining a curvature setpoint. The method comprises obtaining drilling process feedback from a drilling assembly drilling the curve section of the wellbore. The method comprises updating a scheduling parameter vector based on the drilling process feedback. The method comprises updating a controller, wherein the controller is configured with the scheduling parameter vector. The method comprises determining an error based on the curvature setpoint and the drilling process feedback. The method comprises inputting the error into the controller. The method comprises determining, via the controller, steering decisions based on the error and the scheduling parameter vector.

Abstract: A curvature cruise controller has been designed to maintain a desired curvature when drilling a curve section of a wellbore. The curvature cruise controller utilizes a model-based controller (such as an LQR controller) to generate steering inputs based on the desired curvature and attitude setpoints and real time measurements. The model-based controller is configured with a wellbore propagation model that characterizes the tool's response dynamics. The curvature cruise controller utilizes real time drilling operation parameters measurements to tune the model-based controller.

Abstract: A method and system for estimating a wellbore curvature. The method may include disposing a rotary steerable system (RSS) into a borehole, storing a real-time curvature estimation for the borehole in an information handling system, wherein the information handling system is disposed on the RSS, taking a first attitude measurement at a first sensor, and taking a second attitude measurement at a second sensor. The method may further include applying a filter to at least the first attitude measurement and the second attitude measurement to form a filtered measurement set, performing a curvature estimation with the filtered measurement set to form an estimated curvature signal, comparing the estimated curvature signal to a curvature set point to find a difference, and adjusting at least one operating parameter of the RSS based on the difference.

Abstract: Current disclosure proposes calibration methodology that uses the knowledge learned from historical data and real-time data to update a simplified physics-based borehole propagation model for real time steering control of a directional drilling system. The proposed methodology updates model parameters of the simplified physics-based model in real time through a process of setting up and optimizing an objective function, which indicates the difference between the estimated trajectory and the feedback from the real-time data. Penalizing terms, which prevent the parameters from deviating drastically from the prior knowledge of the parameter, and various components of the objective function are learned from the historical data. As a result, the updated model can accurately estimate and predict the system behavior allowing an input sequence of the system to be accurately mapped to the output response.

Abstract: The disclosure provides for a method for identifying a mud motor drilling mode. The method comprises accessing historical run information stored in a memory of a controller and determining drilling measurements based on the historical run information. The method further comprises training at least one initial model with a machine learning method using the determined drilling measurements, wherein the at least one initial model comprises one or more inputs selected from a group consisting of revolutions per minute, tool-face, torque, flowrate, weight on bit, rate of penetration, differential pressure, a derivative thereof, and any combination thereof. The method further comprises utilizing the trained at least one initial model to determine the mud motor drilling mode for a mud motor.