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针对一类带不确定性的非线性系统，引入坐标变换，对变换后的系统设计了变结构鲁棒控制器，在一定界的限制下，可以达到对不确定性的抑制，不确定性的界不可知时，利用自适应技术进行在线估计；利用线性化方法，对系统的滑动模态进行设计，得到了稳定的滑动模态。
Aiming at a class of nonlinear systems with uncertainties, a coordinate transformation is introduced and a robust variable structure controller is designed for the transformed system. Under the constraints of a certain bound, the uncertainties can be suppressed and uncertain When the boundary is not known, the online estimation is made by using adaptive technology. By using the linearization method, the sliding mode of the system is designed and a stable sliding mode is obtained.