Actuators, Год журнала: 2025, Номер 14(1), С. 36 - 36

Опубликована: Янв. 17, 2025

The formation of a coal mine roadway cross-section is primary task the boom-type roadheader. This paper proposes an intelligent robust control scheme for cutting head trajectory tunneling robot, which susceptible to unknown external disturbances, system nonlinearity, and parameter uncertainties. First, working conditions section were analyzed, mathematical model was established. Then, high-gain disturbance observer designed based on analyze loads compensate uncertainties disturbances. A sliding mode controller proposed using backstepping design method, incorporating saturation function term avoid chattering. eel foraging optimization algorithm also improved used tune parameters. simulation developed performance comparison tests. Finally, experimental verification conducted under actual in tunnel face, results demonstrated effectiveness method.

Язык: Английский