The cutterhead driving system of tunnel boring machine is one of the key components for rock cutting and excavation. In this paper, a generalized nonlinear time-varying dynamic model is established for the hard rock TBM cutterhead driving system. Parametric uncertainties and nonlinearities and unknown disturbances exist in the dynamic model. An adaptive robust control strategy is proposed to compensate the uncertainties and nonlinearities to achieve precise cutterhead rotation speed control. In order to simulate the comprehensive performances of adaptive robust control controller, three different kinds of external force disturbances are added in this model. Compared to the traditional PID, ARC can effectively handle the different kinds of external force disturbances with sufficient small tracking errors.

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