针对液压支架群多缸同步拉架过程，提出了基于干扰观测器的状态受限同步控制策略。首先分析了多缸之间的关系，基于等同控制的思想为每个子系统设计了干扰观测器以估计和补偿系统的不确定性和外来干扰|利用障碍李雅普诺夫理论对系统位置和速度的最大误差进行限制|引入动态面理论避免反步设计过程中的微分爆炸现象，简化了控制器的设计过程|以ZY3200/08/18D型电液控制液压支架为模型在Simulink中进行了仿真分析，随后搭建模拟实验台进行了实验验证。仿真和实验结果表明，所设计的位置同步控制策略拥有较高的轨迹跟踪精度和同步精度。

Proposed in this paper is a state-constrained synchronous control strategy based on disturbance observer for the multi-cylinder synchronous pulling process of hydraulic support group. First, The relationship among multiple cylinders is analyzed. Next, based on the theory of equal control, a disturbance observer is designed for each subsystem to estimate and compensate the uncertainties and external disturbances of the system. Then, the maximum errors of the systems position and velocity are limited by using the barrier Lyapunov theory, and the dynamic surface theory is introduced to avoid differential explosion in backstepping design and simplify the design of the controller. Moreover, ZY3200/08/18D electro-hydraulic control hydraulic support is used as a model to carry out simu-lation analysis in Simulink, and, finally, a simulation test platform is built for verification. Simulation and experiment results show that the proposed control strategy is of higher trajectory tracking accuracy and synchronization accuracy.