In order to reduce the influence of the instability at the beginning stage of generalized predictive control（GPC） for the operation of rock-drilling robot

a dual-mode control method based on GPC and proportionintegration-differentiation（PID） is established. According to generalized predictive PID algorithm

self-tuning parameters are derived. the PID control mode or GPC mode is adopted to determine whether the generalized predictive self-tuning parameters are within the prescribed limits. Simulation result shows that the dual-mode control strategy can effectively avoid the instability in the initial stage of generalized predictive control

improve the tracking effect in operation and ensure the normal operation of drill boom control when the computational morbidity occurs.