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Adaptive Sliding Mode Control for Hydraulic Support Robot Based on Reaching Law

Based on the dynamic analysis of hydraulic support system, a sliding mode controller is designed according to the dynamic coupling and time-varying characteristics. Sliding mode control has invariable parameter property and a strong adaptive ability to match uncertain factors. The exponential reaching law ensures that the system has fast convergence and little chattering phenomenon. Simulation results show that the sliding mode controller has better tracking performance, higher response speed and stronger anti-interference ability than the PID controller, thus the sliding mode controller has better control effect and motion quality.