本文针对机器人的给定点调节问题,提出了一种新的控制方法。本方法主要特点为:采用李亚普诺夫函数V=S~τMS替代变结构控制器设计中通常采用的到达条件SS<0,从而避免了烦琐的惯性阵转换问题;通过使用非线性切换函数替代线性切换函数,大大改善了系统的动态响应;通过约束系统动点在扇区内滑动来替代在切换面交的滑动,使抖动得以消弱。 In this paper, aiming at the given point adjustment of robot, a new control method is proposed. The main features of this method are as follows: the Lyapunov function V = S ~ τMS is used to replace SS <0, which is usually used in the design of variable structure controllers, so as to avoid cumbersome inertial matrix transformation; by using nonlinear switch function instead of linear The switching function greatly improves the dynamic response of the system. By restraining the sliding point of the moving point of the system in the sector to replace the sliding on the switching surface, the jitter can be weakened.