Subspace Identification and Nonlinear Integral Sliding Mode Control for Two-wheeled-legged Robot

LIU Huimin; ZHANG Zheng; LIANG Ruoyu; YAN Ruyu

doi:10.12382/bgxb.2025.0303

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Subspace Identification and Nonlinear Integral Sliding Mode Control for Two-wheeled-legged Robot

更新时间：2026-04-24

- Subspace Identification and Nonlinear Integral Sliding Mode Control for Two-wheeled-legged Robot
- Acta Armamentarii Vol. 47, Issue 1, Pages: 250303(2026)
- 作者机构：
  
  武汉科技大学机器人与智能系统研究院，湖北武汉 430081
  武汉科技大学人工智能与自动化学院，湖北武汉 430081
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2025.0303
  CLC： TP242.6
- Received：21 April 2025，
  
  Online First：11 February 2026，
  
  Published：31 January 2026
- 稿件说明：
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LIU Huimin, ZHANG Zheng, LIANG Ruoyu, et al. Subspace Identification and Nonlinear Integral Sliding Mode Control for Two-wheeled-legged Robot[J]. Acta Armamentarii, 2026, 47(1): 250303.
DOI：

LIU Huimin, ZHANG Zheng, LIANG Ruoyu, et al. Subspace Identification and Nonlinear Integral Sliding Mode Control for Two-wheeled-legged Robot[J]. Acta Armamentarii, 2026, 47(1): 250303. DOI： 10.12382/bgxb.2025.0303.

摘要

双轮腿机器人通过足式和轮式两种模态之间切换以适应不同的地形和环境，频繁的运动方式切换使得关节摩擦力对系统产生不可避免的非线性和不确定性影响。为了解决建模过程中忽略或简化关节摩擦力所产生模型误差的问题，提出一种基于子空间辨识的双轮腿机器人非线性积分滑模控制策略。根据库伦-黏性摩擦理论分析关节摩擦力对机器人运动性能的影响；基于子空间辨识算法建立考虑关节摩擦力的双轮腿机器人状态空间模型，并针对关节摩擦力产生有色噪声的干扰问题，采用稀疏投影方法消除噪声项对子空间辨识算法的有偏性；设计改进积分滑模控制律实现双轮腿机器人的姿态控制，并采用Lyapunov理论证明控制系统的稳定性。仿真实验结果表明，与忽略关节摩擦力的控制系统相比，考虑关节摩擦的积分滑模控制器在俯仰角和偏航角控制上表现出更高的精度和更小的稳态误差，模型误差分别降低28. 94%、41. 97%、35. 43%、40. 61%；俯仰角和偏航角的超调量分别减少24. 26%和21. 1%，系统具有良好的稳定性、抗扰性和鲁棒性。

Abstract

The two-wheeled-legged robot adapts to different terrains and environments by switching between foot and wheel modes

and the frequent switching of motion modes leads to an inevitable nonlinear and uncertain effect of joint friction on the system. In order to address the problem of model errors caused by neglecting or simplifying the joint friction force during the modeling process

this paper proposes a nonlinear integral sliding mode control strategy for a two-wheeled-legged robot based on subspace identification. The influence of joint friction on the motion performance of the robot is analyzed based on the Coulomb-Stribeck friction theory. Then a state space model for a two-wheeled-legged robot considering joint friction force is established using a subspace identification algorithm. To address the interference issue of colored noise generated by joint friction

a sparse projection method is employed to eliminate the bias of the noise term on the subspace identification algorithm. Subsequently

an improved integral sliding mode control law is designed to achieve the attitude control of the two-wheeled-legged robot

and the stability of the control system is proved using Lyapunov theory. The simulated and experimental results show that

compared to control systems that ignore joint friction

the integral sliding mode controller that considers joint friction shows higher precision and smaller steady-state errors in pitch and yaw angle control

with model errors reduced by 28. 94%

41. 97%

35. 43%

and 40. 61%

respectively. The overshoots of pitch angle and yaw angle are reduced by 24. 26% and 21. 1%

respectively

and the robot control system has good stability

disturbance rejection

and robustness.

关键词

Keywords

references

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1武汉科技大学机器人与智能系统研究院

2武汉科技大学人工智能与自动化学院

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