CAJ | 학술논문

基于反演（Backstepping ）思想设计了滑模变结构切换函数，研究了趋近律控制设计方法中趋近律参数之间的定性关系，利用Lyapunov函数证明了系统的稳定性。仿真结果证明，文中所提出的控制策略不但能使机器人有效地跟踪任意期望轨迹，而且大大地抑制了滑模控制中的抖动现象，验证了该方法的可行性和有效性。
기우반연（Backstepping ）사상설계료활모변결구절환함수，연구료추근률공제설계방법중추근률삼수지간적정성관계，이용Lyapunov함수증명료계통적은정성。방진결과증명，문중소제출적공제책략불단능사궤기인유효지근종임의기망궤적，이차대대지억제료활모공제중적두동현상，험증료해방법적가행성화유효성。
The sliding model variable structure switching function is built based on the backstepping theory .The relationship between the reaching rate parameters in the reaching rate control is studied . With Lapunov function ,the stability of the system is discussed .The simulation results show that the method not only track the random targets but check the jitter to verify that it is feasible and effective .