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提出一种仅利用位置测量信息的机器人滑动模跟踪控制方案使机器人跟踪给定轨迹．整个控制器分为两部分：仅利用位置反馈的控制器和变结构滑动模控制器．由位置反馈实现的虚拟速度反馈实质上是一种动态补偿器，而变结构滑动模控制方案则主要用来消除或抵消系统中所存在的不确定性的影响，达到提高系统鲁棒性的目的．在上述控制器控制下，系统的输出跟踪误差可以渐近收敛到零．利用边界层控制方案可消除或减弱滑动模控制中经常出现的抖振现象．
A robot sliding mode tracking control scheme using only position measurement information is proposed to make the robot track a given trajectory. The whole controller is divided into two parts: only use the position feedback controller and variable structure sliding mode controller. The virtual velocity feedback by position feedback is essentially a kind of dynamic compensator, while the variable structure sliding mode control scheme is mainly used to eliminate or offset the impact of the existing uncertainties in the system to achieve the purpose of improving system robustness . Under the control of the above controller, the output tracking error of the system can converge to zero asymptotically. The use of boundary layer control schemes eliminates or attenuates the chattering often found in sliding mode control.