Optimal torque of cantilever boring robots in the footage process under complex terrains

Purpose This paper aims to propose an optimal control strategy based on the slip rate during the tunnel footage process for cantilever boring robots. Design/methodology/approach A method combining adaptive dynamic programming and linear quadratic regulator is used to solve for the optimal torque, aiming to achieve precise and stable control strategies. Findings The feasibility of the proposed method is demonstrated through an actual footage process. Comparative analysis with other methods further illustrates the superiority of this approach. Originality/value Combining the slip rate to calculate the optimal torque of the cantilever boring robots under complex road conditions is essential to overcoming the slip phenomenon during the footage process. The method proposed in this paper is very useful for current systems and intuitive for similar robots.