基于改进滑模控制的悬臂式掘进机轨迹跟踪技术

张旭辉,李语阳,杨文娟,张超,郑西利,麻兵

Trajectory tracking technology for boom-type roadheader based on improved sliding mode control

Xuhui ZHANG,Yuyang LI,Wenjuan YANG,Chao ZHANG,Xili ZHENG,Bing MA

图2 悬臂式掘进机轨迹跟踪偏差模型

Fig.2 Trajectory tracking deviation model for boom-type roadheader