Fabricated by high elastic materials, soft actuators provide a prominent solution for soft rehabilitation gloves, soft graspers and locomotion robots. However, the control of soft actuators is a grant challenge due to dynamic modeling error and unavailable system states. This paper proposes an observer-based continuous adaptive sliding mode controller for soft actuators in the presence of system uncertainties without knowledge of its upper bound in prior. By exploiting a novel nonsingular fast terminal sliding mode (NFTSM) surface and a high-order sliding mode (HOSM) observer, the proposed control scheme features adaptive-tuning gains, continuity, singularity-free, stronger robustness and higher tracking accuracy. The stability of the proposed controller is analyzed by the Lyapunov method. Corresponding comparative simulations and experiments of a soft pneumatic network actuator verify the effectiveness and related features of the proposed controller.

由高弹性材料制成的软致动器为软康复手套、软抓手和运动机器人提供了突出的解决方案。然而，由于动态建模错误和不可用的系统状态，软执行器的控制是一项挑战。本文提出了一种基于观测器的连续自适应滑模控制器，用于在存在系统不确定性的情况下，不知道其先验上限。通过利用新的非奇异快速终端滑模 (NFTSM) 表面和高阶滑模 (HOSM) 观测器，所提出的控制方案具有自适应调谐增益、连续性、无奇异性、更强的鲁棒性和更高的跟踪精度。所提出的控制器的稳定性通过李雅普诺夫方法进行分析。