Position Deviation Control of Drilling Machine Using a Nonlinear Adaptive Backstepping Controller Based on a Disturbance Observer

Thin coal seam mining is a development direction to solve the problem of energy supply at this stage, which cannot be realized by small working space, low automation, and drilling deviation. In paper, nonlinear adaptive backstepping controller based on disturbance observer proposed used auger for position tracking control achieve directional drilling. Firstly, dynamic model deflection mechanism built with consideration parameter uncertainties external disturbances. Then, uncertainty are regarded as system compound disturbance. Furthermore, designed estimate was compensate The upper bound disturbance, can effectively reduce chattering in process, obtained easily. A stability analysis DCM (deviation mechanism) proved Lyapunov theory. Finally, an electro-hydraulic servo displacement experimental matlab xPC target rapid prototyping technology prototype experiment established verify effectiveness strategy. results indicate that yield more satisfactory performance, such disturbances, than conventional proportion integral derivative (PID) controller. Using strategy, technical breakthrough horizontal thin mining.