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A two-folded sliding modes approach of pneumatic muscle actuator (PMA) position control system was proposed, and the controller was designed by using Lyapunov stability theory.
针对气动人工肌肉位置控制系统，提出了两层滑模的变结构鲁棒控制策略，控制器的推导基于李亚普诺夫稳定性理论。
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