Abstract: To solve the problem of insufficient definition of patrol inspection images and frequent jitter of video images caused by the body vibration caused by the track joint impact, wheel-rail friction time variation and other multi-source disturbances when the rail-mounted patrol inspection robot walks in the complex working condition of the mine roadway, a composite robust control strategy integrating preconfigured function control (PPC), nonsingular fast terminal slip-mode control (NFTSMC) and disturbance observer (DOB) is proposed. Through analyzing the structural characteristics of the robot walking mechanism, the dynamic and kinematic models of typical working conditions such as climbing and turning are established. The composite control strategy is designed, that is, PPC constrains the velocity tracking error through the preset performance function to ensure the dynamic performance index; NFTSMC realizes the finite time convergence of the error and suppresses the vibration; DOB observes and compensates the unknown disturbance in real time. Through the comparison of simulation experiment with PID, SMC, NFTSMC+DOB strategies, it is verified that the proposed composite control strategy can effectively improve the speed tracking accuracy and operation stability of rail-mounted patrol robot under complex disturbance, and provide technical support for high-performance control of automatic patrol equipment.