For the boring angle deviation of a certain type of full-face shaft boring machine,the control strategy of hydraulic support boot in deviation rectification process was proposed.Considering the real-time nature of attitude measurement during the drilling process,the principle of deviation rectification for small angle deviation was put forward,the rectification process was planned as an alternate combination of rotating around the drill vertex and drilling downward.The role of each support hydraulic system was considered individually,and a single support hydraulic cylinder was selected as the object,the dynamic model with uncertain disturbance of the support boot hydraulic system during the rectification process was established.The robust control strategy was designed based on the system dynamic model compensation and the sign integral of the angle error,and the theoretically asymptotically controller stability was proved via Lyapunov analysis.Finally,the system simulation model and control algorithm module were established based on MATLAB/Simulink platform,the comparison simulation of the control strategies under two angle commands were carried out.It is shown that the proposed control strategy has a high angle deviation adjustment accuracy.