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本文针对机器人轨迹跟踪控制问题，基于滑模变结构控制的基本理论，提出了一种具有前馈补偿的滑模变结构鲁棒控制器。通过引入顺馈控制（对滑模切换函数的ＰＩ控制）来改善滑动模态的动特性，并消弱或消除常规变结构控制所存在的“颤振”现象：应用前馈补偿来提高跟踪精度。仿真结果验证了该方法的有效性。
Aiming at the robot trajectory tracking control problem, this paper presents a sliding mode variable structure robust controller with feedforward compensation based on the basic theory of sliding mode variable structure control. The feed-in control (PI control of sliding mode switching function) is introduced to improve the dynamic characteristics of sliding mode and weaken or eliminate the “flutter” phenomenon existing in conventional variable structure control. The feedforward compensation is used to improve the tracking accuracy . Simulation results verify the effectiveness of this method.