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Updated: Sep 22, 2025

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
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Disturbance observer-based adaptive position control for a cutterhead anti-torque system.

Hangjun Zhang1, Jinhui Fang1, Huan Yu2

  • 1State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China.

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Summary

A new adaptive position controller effectively manages cutterhead anti-torque systems (CATS) during complex excavations. This disturbance observer-based method ensures stability and compensates for uncertainties, outperforming traditional PID control.

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Area of Science:

  • Engineering
  • Control Systems
  • Robotics

Background:

  • Cutterhead tool replacement in complex strata requires precise control.
  • Existing cutterhead anti-torque systems (CATS) face challenges with unknown load torques and damping uncertainties during excavation.

Purpose of the Study:

  • To develop an effective control strategy for cutterhead anti-torque systems (CATS).
  • To address the engineering problem of controlling CATS for stable excavation in complicated strata.

Main Methods:

  • Proposed a disturbance observer-based adaptive position controller for CATS.
  • Implemented nonlinear adaptive control with adaptation laws to compensate for uncertainties.
  • Utilized back-stepping technique with sliding mode control and Lyapunov stability theory.
  • Developed a MATLAB/AMESim co-simulation virtual test rig for validation.

Main Results:

  • The proposed controller demonstrated robust performance in tracking tasks despite system uncertainties.
  • Simulation results showed superior performance compared to traditional PID control.
  • The controller effectively compensated for unknown time-varying load torque and damping uncertainty.

Conclusions:

  • Disturbance observer-based adaptive position control is a viable strategy for cutterhead anti-torque systems.
  • The developed controller ensures asymptotic stability and effective compensation for uncertainties in complex excavation scenarios.