An Adaptive Control Method for a Knee-Joint Prosthetic Leg Toward Dynamic Stability and Gait Optimization

This paper presents a hybrid control strategy that combines Model Predictive Control (MPC) and Linear Quadratic Regulator (LQR) to achieve robust and stable tracking of human knee joint motion.The state-space model of the system is discretized to facilitate real-time implementation.MPC is employed to track the knee joint trajectory during dynamic motion, while the LQR controller is activated at critical points, particularly when the joint angle approaches zero, to stabilize the system and ensure safety.