Advancing Control for Shield Tunneling Machine by Backstepping Design with LuGre Friction Model

Table 2

Parameter setting in simulation.

Parameter	Value	Unit
𝑚	3×10^5	Kg
𝑘1	1.5	1
𝑘2	3	1
𝐹	4×10^6	N
𝐹𝑆	8×10^6	N
𝐹𝐶	6×10^6	N
𝑣𝑠	0.3	mm/s
𝜎0	5×10^7	N/m
𝜎1	200	Ns/m
𝜎2	8×10^6	N/(mm/s)
𝑏	8×10^6	N/(mm/s)
𝜆1	5000	1
𝜆2	5000	1
𝜆3	5000	1
𝜆4	200	1
𝜆5	5000	1
𝜆6	5000	1
𝐽10	4×10^7	N/m
𝐽20	6×10^6	N/(mm/s)
𝐹0	4.5×10^6	N