Research on Anchor Bolt Drilling Arm Motion Control Based on Improved Sliding Mode Control

To address the low tracking accuracy of traditional PID control and sliding mode control (SMC) in the motion trajectory tracking of bolter drilling booms, this study proposes a Iterative Learning Compensation-based Sliding Mode Active Disturbance Rejection Control (ILC-SMADRC) algorithm. By integrating an iterative learning mechanism with a sliding mode active disturbance rejection control strategy, the proposed method significantly improves the trajectory tracking precision and system stability of the bolter drilling boom. First, a dynamic mathematical model of the bolter drilling boom is established using the D-H parameter method. Subsequently, a sliding mode active disturbance rejection controller with iterative learning compensation is designed to effectively suppress system uncertainties and external disturbances. A simulation experimental platform for the bolter drilling boom control system, based on the ILC-SMADRC algorithm, is developed using MATLAB/Simulink. Simulation results demonstrated that the ILC-SMADRC algorithm outperforms conventional PID control and SMC in trajectory tracking accuracy, reducing cumulative errors by 83.5% and 59.2%, respectively. Moreover, the proposed algorithm exhibits superior dynamic response characteristics and robustness. The study confirms that the ILC-SMADRC algorithm effectively enhances motion control stability of bolter drilling booms under the complex underground working conditions, providing a new theoretical framework for precise control of intelligent mining equipment.