The project firstly aims at constructing a multi-system coupling model under closed chain structure constraints. Then, the position and posture rectification tracking trajectory planning and trajectory tracking control based on thrust system multiple partition will be researched. In order to deal with the strong pressure fluctuation, a multi-system coordination control method will be studied. Furthermore, geological adaptive optimal operation method based on big data will be carried out to make tunneling parameters match with geological condition in a timely manner.
