中国计量大学学报2026，Vol.37Issue(1)：59-70,12.DOI:10.3969/j.issn.2096-2835.2026.01.007
气动肌肉仿生腿自适应非线性积分滑模控制研究
Research on adaptive nonlinear integral sliding mode control of pneumatic muscle bionic legs
摘要
Abstract
Aims:An adaptive nonlinear integral sliding mode control method based on Newton-Raphson-based optimizer(NRBO)was proposed to solve the problem that the pneumatic muscle bionic leg was susceptible to external interference during trajectory tracking.Methods:Firstly,an integral sliding mode surface with nonlinear saturation function was designed to improve the response speed of the system while suppressing the integral saturation phenomenon.Secondly,a variable exponential reaching law was introduced;and its coefficient could be dynamically adjusted according to the state of the sliding surface.It was proved by theoretical calculation that the convergence time of the reaching law was shorter.Then,the adaptive control strategy was used to estimate the upper bound of the total disturbance of the system online to eliminate the influence of external disturbance.Finally,the NRBO algorithm was used to optimize the controller hyperparameters to further improve the control performance.Results:Compared with the integral sliding mode controller,the proposed method reduced the mean absolute error(MAE)and root mean square error(RMSE)of the hip joint by 41.6％and 19.5％,respectively,and the MAE and RMSE of the kneejoint by 24.9％and 4.1％,respectively.Conclusions:The proposed control method effectively improves the trajectory tracking accuracy of the pneumatic muscle bionic leg.关键词
气动肌肉仿生腿/非线性饱和函数/自适应控制/牛顿-拉弗森算法Key words
pneumatic muscle bionic leg/nonlinear saturation function/adaptive control/Newton-Raphson-based optimizer分类
信息技术与安全科学引用本文复制引用
汪小峰,王丽娜,李成成,王斌锐..气动肌肉仿生腿自适应非线性积分滑模控制研究[J].中国计量大学学报,2026,37(1):59-70,12.基金项目
国家自然科学基金项目(No.31901400),浙江省重点研发计划项目(No.2023C03186),浙江省高等教育"十四五"第二批本科教学改革项目(No.JGBA2024209) （No.31901400）
