Disturbance observer-based adaptive position control for a cutterhead anti-torque system.

ABSTRACT: To conveniently replace worn cutterhead tools in complicated strata, a novel cutterhead attitude control mechanism was recently designed. Meanwhile, the mechanism also causes an engineering problem of how to control a matching cutterhead anti-torque system (CATS) effectively, which is used to prevent a drive box of the cutterhead from rotation during a complex excavation process. In this paper, a disturbance observer-based adaptive position controller is proposed for the CATS. The proposed method presents a nonlinear adaptive controller with adaptation laws to compensate for the unknown time-varying load torque and damping uncertainty in the system. Based on the disturbance observer method and sliding mode control, an asymptotically stable controller proven by Lyapunov theory is constructe

SUBMITTER: Zhang H 

PROVIDER: S-EPMC9129045 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature