{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T19:05:59Z","timestamp":1754161559777,"version":"3.41.2"},"reference-count":39,"publisher":"Emerald","issue":"1","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,1,2]]},"abstract":"<jats:sec>\n                  <jats:title>Purpose<\/jats:title>\n                  <jats:p>This paper aims to present an adaptive sliding mode control (ASMC) for tunnel boring machine cutterhead telescopic system with uncertainties to achieve a high-precision trajectory in complex strata. This method could be applied to solve the problems caused by linear and nonlinear model uncertainties.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Design\/methodology\/approach<\/jats:title>\n                  <jats:p>First, an integral-type sliding surface is defined to reduce the static tracking error. Second, a projection type adaptation law is designed to approximate the linear and nonlinear redefined parameters of the electrohydraulic system. Third, a nonlinear robust term with a continuous approximation function is presented for handling load force uncertainty and reducing sliding mode chattering. Moreover, Lyapunov theory is applied to guarantee the stability of the closed-loop system. Finally, the effectiveness of the proposed controller is proved by comparative experiments on a scaled test rig.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Findings<\/jats:title>\n                  <jats:p>The linear and nonlinear model uncertainties lead to large variations in the dynamics of the mechanism and the tracking error. To achieve precise position tracking, an adaptation law was integrated into the sliding mode control which compensated for model uncertainties. Besides, the inherent sliding mode chattering was reduced by a continuous approximation function, while load force uncertainty was solved by a nonlinear robust feedback. Therefore, a novel ASMC for tunnel boring machine cutterhead telescopic system with uncertainties can improve its tracking precision and reduce the sliding mode chattering.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Originality\/value<\/jats:title>\n                  <jats:p>To the best of the authors\u2019 knowledge, the ASMC is proposed for the first time to control the tunnel boring machine cutterhead telescopic system with uncertainties. The presented control is effective not only in control accuracy but also in parameter uncertainty.<\/jats:p>\n               <\/jats:sec>","DOI":"10.1108\/ir-04-2022-0096","type":"journal-article","created":{"date-parts":[[2022,8,23]],"date-time":"2022-08-23T12:41:37Z","timestamp":1661258497000},"page":"162-173","source":"Crossref","is-referenced-by-count":4,"title":["Adaptive sliding mode control for tunnel boring machine cutterhead telescopic system with uncertainties"],"prefix":"10.1108","volume":"50","author":[{"given":"Hangjun","family":"Zhang","sequence":"first","affiliation":[{"name":"Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems, , Hangzhou,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinhui","family":"Fang","sequence":"additional","affiliation":[{"name":"Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems, , Hangzhou,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jianhua","family":"Wei","sequence":"additional","affiliation":[{"name":"Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems, , Hangzhou,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huan","family":"Yu","sequence":"additional","affiliation":[{"name":"Aerospace System Engineering Shanghai , Shanghai,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qiang","family":"Zhang","sequence":"additional","affiliation":[{"name":"Hangzhou Doubltech Electro-Hydraulic Engineering Co., Ltd., Hangzhou, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2022,8,25]]},"reference":[{"key":"2025072821033277500_ref001","volume-title":"PID Controllers: Theory, Design, and Tuning","author":"\u00c5str\u00f6m","year":"1995","edition":"2nd ed."},{"issue":"4","key":"2025072821033277500_ref002","doi-asserted-by":"crossref","first-page":"714","DOI":"10.1115\/1.2802347","article-title":"Adaptive, high bandwidth control of a hydraulic actuator","volume":"118","author":"Bobrow","year":"1996","journal-title":"Journal of Dynamic Systems, Measurement, and Control"},{"issue":"2","key":"2025072821033277500_ref003","doi-asserted-by":"crossref","first-page":"818","DOI":"10.1007\/s40435-020-00665-4","article-title":"A review of PID control, tuning methods and applications","volume":"9","author":"Borase","year":"2021","journal-title":"International Journal of Dynamics and Control"},{"issue":"2","key":"2025072821033277500_ref004","doi-asserted-by":"crossref","first-page":"368","DOI":"10.1109\/87.911388","article-title":"Sliding control of an electropneumatic actuator using an integral switching surface","volume":"9","author":"Bouri","year":"2001","journal-title":"IEEE Transactions on Control Systems Technology"},{"key":"2025072821033277500_ref005","first-page":"110","article-title":"Study of cutterhead and cutting tool selection and cutting tool replacement of large-diameter shield under atmospheric condition","volume":"38","author":"Chen","year":"2018","journal-title":"Tunnel Construction"},{"key":"2025072821033277500_ref006","first-page":"673","article-title":"Fabrication of graded WC-Co cemented carbides by a lamination method","volume-title":"Chinese Ceramics Communications","author":"Cheng","year":"2010"},{"key":"2025072821033277500_ref007","doi-asserted-by":"crossref","first-page":"199","DOI":"10.1016\/j.isatra.2020.10.027","article-title":"Incomplete differentiation-based improved adaptive backstepping integral sliding mode control for position control of hydraulic system","volume":"109","author":"Dang","year":"2021","journal-title":"ISA Transactions"},{"key":"2025072821033277500_ref008","doi-asserted-by":"crossref","first-page":"127","DOI":"10.1016\/j.mechmachtheory.2019.03.019","article-title":"Smooth and time-optimal S-curve trajectory planning for automated robots and machines","volume":"137","author":"Fang","year":"2019","journal-title":"Mechanism and Machine Theory"},{"issue":"6","key":"2025072821033277500_ref009","doi-asserted-by":"crossref","first-page":"1425","DOI":"10.1016\/0005-1098(93)90007-G","article-title":"Design of \u2018softer' robust nonlinear control laws","volume":"29","author":"Freeman","year":"1993","journal-title":"Automatica"},{"issue":"3","key":"2025072821033277500_ref010","doi-asserted-by":"crossref","first-page":"366","DOI":"10.1108\/IR-09-2020-0184","article-title":"Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion","volume":"48","author":"Gong","year":"2021","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"issue":"11","key":"2025072821033277500_ref011","doi-asserted-by":"crossref","first-page":"1275","DOI":"10.1016\/j.conengprac.2008.02.002","article-title":"Adaptive sliding mode control of electro-hydraulic system with nonlinear unknown parameters","volume":"16","author":"Guan","year":"2008","journal-title":"Control Engineering Practice"},{"key":"2025072821033277500_ref012","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1016\/j.mechatronics.2015.02.003","article-title":"Position tracking control of electro-hydraulic single-rod actuator based on an extended disturbance observer","volume":"27","author":"Guo","year":"2015","journal-title":"Mechatronics"},{"issue":"6","key":"2025072821033277500_ref013","doi-asserted-by":"crossref","first-page":"665","DOI":"10.1108\/IR-02-2016-0066","article-title":"Adaptive fuzzy sliding mode control for redundant manipulators with varying payload","volume":"43","author":"He","year":"2016","journal-title":"Industrial Robot: An International Journal"},{"issue":"3","key":"2025072821033277500_ref014","doi-asserted-by":"crossref","first-page":"685","DOI":"10.1016\/j.automatica.2012.11.026","article-title":"Adaptive steering control for uncertain ship dynamics and stability analysis","volume":"49","author":"Kahveci","year":"2013","journal-title":"Automatica"},{"issue":"4","key":"2025072821033277500_ref015","doi-asserted-by":"crossref","DOI":"10.9781\/ijimai.2022.04.001","article-title":"Optimistic motion planning using recursive sub- sampling: a new approach to sampling-based motion planning","volume":"7","author":"Kenye","year":"2022","journal-title":"International Journal of Interactive Multimedia and Artificial Intelligence"},{"issue":"11","key":"2025072821033277500_ref016","doi-asserted-by":"crossref","first-page":"1474","DOI":"10.1179\/026708304X4312","article-title":"Effect of bonding time on joint properties of vacuum brazed WC-Co hard metal\/carbon steel using stacked Cu and Ni alloy as insert metal","volume":"20","author":"Lee","year":"2004","journal-title":"Materials Science and Technology"},{"key":"2025072821033277500_ref017","doi-asserted-by":"crossref","first-page":"168","DOI":"10.1016\/j.mechatronics.2017.08.007","article-title":"High-performance adaptive robust control with balanced torque allocation for the over-actuated cutter-head driving system in tunnel boring machine","volume":"46","author":"Liao","year":"2017","journal-title":"Mechatronics"},{"key":"2025072821033277500_ref018","doi-asserted-by":"crossref","first-page":"485","DOI":"10.1016\/j.ins.2021.06.055","article-title":"Adaptive disturbance observer-based event-triggered fuzzy control for nonlinear system","volume":"575","author":"Li","year":"2021","journal-title":"Information Sciences"},{"issue":"4","key":"2025072821033277500_ref019","doi-asserted-by":"crossref","DOI":"10.9781\/ijimai.2020.11.012","article-title":"Function analysis of industrial robot under cubic polynomial interpolation in animation simulation environment","volume":"6","author":"Li","year":"2020","journal-title":"International Journal of Interactive Multimedia and Artificial Intelligence"},{"issue":"8","key":"2025072821033277500_ref020","doi-asserted-by":"crossref","first-page":"6684","DOI":"10.1109\/TIE.2017.2698358","article-title":"Nonlinear robust prediction control of hybrid active-passive heave compensator with extended disturbance observer","volume":"64","author":"Li","year":"2017","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"2\/3","key":"2025072821033277500_ref021","doi-asserted-by":"crossref","first-page":"109","DOI":"10.1016\/S0736-5845(99)00043-5","article-title":"Robust control of planar dual-arm cooperative manipulators","volume":"16","author":"Liu","year":"2000","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"issue":"10","key":"2025072821033277500_ref022","doi-asserted-by":"crossref","first-page":"3471","DOI":"10.1109\/TAC.2018.2794885","article-title":"Continuous sliding mode control strategy for a class of nonlinear underactuated systems","volume":"63","author":"Lu","year":"2018","journal-title":"IEEE Transactions on Automatic Control"},{"issue":"3","key":"2025072821033277500_ref023","doi-asserted-by":"crossref","first-page":"313","DOI":"10.1016\/S0967-0661(97)00008-7","article-title":"Decoupling pole-placement control, with application to a multi-channel electro-hydraulic servosystem","volume":"5","author":"Plummer","year":"1997","journal-title":"Control Engineering Practice"},{"key":"2025072821033277500_ref024","doi-asserted-by":"crossref","first-page":"299","DOI":"10.1109\/87.406977","article-title":"Performance enhancement of nonlinear drives by feedback linearization of linear-bilinear cascade models","volume":"3","author":"Re","year":"1995","journal-title":"IEEE Transactions on Control Systems Technology"},{"issue":"12","key":"2025072821033277500_ref025","doi-asserted-by":"crossref","first-page":"1495","DOI":"10.1016\/j.conengprac.2007.02.009","article-title":"Feedback linearization based control of a rotational hydraulic drive","volume":"15","author":"Seo","year":"2007","journal-title":"Control Engineering Practice"},{"volume-title":"An Integral Terminal Sliding Mode Control Scheme for Speed Control System Using a Double-Variable Hydraulic Transformer","year":"2019","author":"Shen","key":"2025072821033277500_ref026"},{"issue":"11","key":"2025072821033277500_ref027","doi-asserted-by":"crossref","first-page":"1357","DOI":"10.1016\/j.conengprac.2004.11.014","article-title":"The development of an adaptive threshold for model-based fault detection of a nonlinear electro-hydraulic system","volume":"13","author":"Shi","year":"2005","journal-title":"Control Engineering Practice"},{"key":"2025072821033277500_ref028","doi-asserted-by":"crossref","first-page":"203190","DOI":"10.1016\/j.wear.2020.203190","article-title":"Analysis and prediction of TBM disc cutter wear when tunneling in hard rock strata: a case study of a metro tunnel excavation in Shenzhen, China","volume":"446-447","author":"Su","year":"2020","journal-title":"Wear"},{"issue":"2","key":"2025072821033277500_ref029","doi-asserted-by":"crossref","first-page":"6854","DOI":"10.1016\/S1474-6670(17)57170-0","article-title":"Adaptive control of RAM velocity for the injection moulding machine","volume":"32","author":"Tan","year":"1999","journal-title":"IFAC Proceedings Volumes"},{"key":"2025072821033277500_ref030","doi-asserted-by":"crossref","first-page":"192","DOI":"10.1016\/j.autcon.2018.05.020","article-title":"Pose and trajectory control of shield tunneling machine in complicated stratum","volume":"93","author":"Wang","year":"2018","journal-title":"Automation in Construction"},{"key":"2025072821033277500_ref031","unstructured":"Wei, J., Zhang, H. and Hu, H. (2019), A telescopic swing system of active shield machine\u2008China patent\u2008application CN201910614453.6."},{"key":"2025072821033277500_ref032","doi-asserted-by":"crossref","first-page":"824","DOI":"10.1016\/j.apm.2019.10.062","article-title":"Nonlinear adaptive output feedback robust control of hydraulic actuators with largely unknown modeling uncertainties","volume":"79","author":"Yang","year":"2020","journal-title":"Applied Mathematical Modelling"},{"key":"2025072821033277500_ref033","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1115\/1.3211087","article-title":"Desired compensation adaptive robust control","volume":"131","author":"Yao","year":"2009","journal-title":"Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME"},{"key":"2025072821033277500_ref034","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1109\/3516.828592","article-title":"Adaptive robust motion control of single-rod hydraulic actuators: theory and experiments","volume":"5","author":"Yao","year":"2000","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"6","key":"2025072821033277500_ref035","doi-asserted-by":"crossref","first-page":"574","DOI":"10.1108\/IR-09-2012-406","article-title":"A novel PID tuning method for robot control","volume":"40","author":"Yu","year":"2013","journal-title":"Industrial Robot: An International Journal"},{"key":"2025072821033277500_ref036","doi-asserted-by":"crossref","first-page":"103603","DOI":"10.1016\/j.autcon.2021.103603","article-title":"A field parameters-based method for real-time wear estimation of disc cutter on TBM cutterhead","volume":"124","author":"Yu","year":"2021","journal-title":"Automation in Construction"},{"issue":"2","key":"2025072821033277500_ref037","doi-asserted-by":"crossref","first-page":"728","DOI":"10.1109\/TCST.2016.2569567","article-title":"Adaptive sliding mode control with parameter estimation and Kalman filter for precision motion control of a piezo-driven microgripper","volume":"25","author":"Zhang","year":"2017","journal-title":"IEEE Transactions on Control Systems Technology"},{"key":"2025072821033277500_ref038","doi-asserted-by":"crossref","DOI":"10.1016\/j.tust.2021.104062","article-title":"Behaviour of a large-diameter shield tunnel through multi-layered strata","volume":"116","author":"Zhang","year":"2021","journal-title":"Tunnelling and Underground Space Technology"},{"key":"2025072821033277500_ref039","first-page":"71","article-title":"Application research of scalable shield main drive system","volume":"36","author":"Zhao","year":"2015","journal-title":"Construction Mechanization"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-04-2022-0096\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/ir\/article-pdf\/50\/1\/162\/2722957\/ir-04-2022-0096.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/www.emerald.com\/ir\/article-pdf\/50\/1\/162\/2722957\/ir-04-2022-0096.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,29]],"date-time":"2025-07-29T01:03:44Z","timestamp":1753751024000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.emerald.com\/ir\/article\/50\/1\/162\/433505\/Adaptive-sliding-mode-control-for-tunnel-boring"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,8,25]]},"references-count":39,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2023,1,2]]}},"URL":"https:\/\/doi.org\/10.1108\/ir-04-2022-0096","relation":{},"ISSN":["0143-991X","1758-5791"],"issn-type":[{"type":"print","value":"0143-991X"},{"type":"electronic","value":"1758-5791"}],"subject":[],"published":{"date-parts":[[2022,8,25]]}}}