Abstract: With the increasing depth and intensity of coal mining, roadways are facing more complex geological conditions and ground pressure environments, placing higher demands on temporary support equipment for excavation faces. To address the issues of complex and variable surrounding rock conditions during coal mine roadway support and the tendency of traditional rigid support to cause stress con?centration and stratum damage, a shield-type flexible support device and a compliant control strategy that integrates impedance control with sliding mode control are proposed in th is paper. First, a dynamic model of a shield-type flexible support device is established using the Lagrange method, and the hydraulic model for the output force of a single cylinder is analyzed. Second, a sliding mode impedance control strategy is designed to meet the support force requirements of the excavation face. This strategy incorporates a hyperbolic tangent function to eliminate chattering and employs Lyapunov theory to prove the stability of the designed control system. Finally, simulations under various working conditions—including constant reference force, varying reference force, and changing environmental information—are conducted on the MATLAB/Simulink platform. The results demonstrate that the proposed control method achieves rapid and stable tracking of the support force, exhibiting strong adaptability and anti-interference capability. This study provides a theoretical basis and technical support for the development of intelligent coal excavation equipment.