Research on Fractional-Order Control of Anchor Drilling Machine Optimized by Intelligent Algorithms

Anchor–bolt support operations are lengthy and conducted under harsh conditions, restricting the efficiency and safety of roadway excavation. To address these challenges, we developed an integrated solution combining mechanical structure optimization with control algorithms. Specifically, we designed a novel automated drilling system equipped with a robotic manipulator and an anchor–bolt magazine to handle modular hollow self-drilling anchor bolts, enabling automated support operations. To achieve precise docking in unmanned conditions, we employed an inner-loop fractional-order proportional–integral–derivative (FOPID) controller optimized by an improved particle swarm optimization (ILPSO) algorithm. Additionally, robust control based on H∞ control theory was introduced to ensure reliable system performance under disturbances and model uncertainties. Simulation results indicate that the ILPSO-tuned FOPID controller significantly outperforms conventional controllers in dynamic response accuracy; frequency–domain analysis further confirms that the H∞ control approach enhances system stability. Collectively, these results provide a theoretical basis for advancing automated mining technologies.