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Adaptive sliding mode control for tunnel boring machine cutterhead telescopic system with uncertainties

Hangjun Zhang (State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China)
Jinhui Fang (State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China)
Jianhua Wei (State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China)
Huan Yu (Aerospace System Engineering Shanghai, Shanghai, China)
Qiang Zhang (Hangzhou Doubltech Electro-Hydraulic Engineering Co., Ltd., Hangzhou, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 25 August 2022

Issue publication date: 2 January 2023

114

Abstract

Purpose

This paper aims to present an adaptive sliding mode control (ASMC) for tunnel boring machine cutterhead telescopic system with uncertainties to achieve a high-precision trajectory in complex strata. This method could be applied to solve the problems caused by linear and nonlinear model uncertainties.

Design/methodology/approach

First, an integral-type sliding surface is defined to reduce the static tracking error. Second, a projection type adaptation law is designed to approximate the linear and nonlinear redefined parameters of the electrohydraulic system. Third, a nonlinear robust term with a continuous approximation function is presented for handling load force uncertainty and reducing sliding mode chattering. Moreover, Lyapunov theory is applied to guarantee the stability of the closed-loop system. Finally, the effectiveness of the proposed controller is proved by comparative experiments on a scaled test rig.

Findings

The linear and nonlinear model uncertainties lead to large variations in the dynamics of the mechanism and the tracking error. To achieve precise position tracking, an adaptation law was integrated into the sliding mode control which compensated for model uncertainties. Besides, the inherent sliding mode chattering was reduced by a continuous approximation function, while load force uncertainty was solved by a nonlinear robust feedback. Therefore, a novel ASMC for tunnel boring machine cutterhead telescopic system with uncertainties can improve its tracking precision and reduce the sliding mode chattering.

Originality/value

To the best of the authors’ knowledge, the ASMC is proposed for the first time to control the tunnel boring machine cutterhead telescopic system with uncertainties. The presented control is effective not only in control accuracy but also in parameter uncertainty.

Keywords

Acknowledgements

This work was supported in part by the National High-tech R&D Program of China (863 Program) under Grant No. 2012AA041804.

Citation

Zhang, H., Fang, J., Wei, J., Yu, H. and Zhang, Q. (2023), "Adaptive sliding mode control for tunnel boring machine cutterhead telescopic system with uncertainties", Industrial Robot, Vol. 50 No. 1, pp. 162-173. https://doi.org/10.1108/IR-04-2022-0096

Publisher

:

Emerald Publishing Limited

Copyright © 2022, Emerald Publishing Limited

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