A model predictive displacement controller with an adaptive ESO and fuzzy dead-zone compensator of drill-arm for a...

A hydraulic roof bolter is the key piece of equipment for installing anchor bolts in roadways, and its position regulated by the drill-arm directly determines the support quality. Due to the complex drilling environment with unknown internal and external disturbances, as well as inherent dead zone of the proportional directional valve, anti-disturbance ability and tracking accuracy were limited. To address these challenges, the drill-arm displacement system is first formulated by considering nonlinear friction. Then, a variable-domain fuzzy dead-zone compensator is designed to eliminate the negative effect of dead-zone in the proportional directional valve. An ANLESO is further developed to enhance the disturbance rejection capability. By integrating the above two, an augmented feedback linearization model predictive controller is presented to improve the displacement tracking accuracy of the drill-arm. Experimental results conducted on a test platform of drill-arm for a hydraulic roofbolter validated the effectiveness and superiority of the proposed method.