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Dynamic modeling and trajectory tracking control of Tunnel Boring Machine

In this paper, we investigate the dynamic modeling and trajectory tracking control of hard rock Tunnel Boring Machine (TBM). The acceleration equation, moment of momentum equation, kinematics equation and orientation equation of TBM are built up. The dynamic mathematical model of TBM attitude is presented by composing of these four equations. The model provides a foundation for the trajectory tracking control of TBM behavior. Fuzzy PID controller is used to design velocity controller, vertical controller and lateral controller. The effectiveness of the proposed methods is shown by illustrative example.