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提出一种机器人滑动模跟踪控制方案，使机器人跟踪时变轨迹．采取的方法是将整个系统视为由许多分散的线性子系统所组成，这些子系统又可由一组二次积分器模拟．利用非线性滑动曲面，设计了一个鲁棒控制器，使得输出跟踪误差能够在有限时间内收敛到零．
A robot sliding mode tracking control scheme is proposed to make the robot track the time-varying trajectory. The approach is to think of the entire system as consisting of many decentralized linear subsystems, which in turn can be modeled by a set of quadratic integrators. Using a nonlinear sliding surface, a robust controller is designed to make the output tracking error converge to zero within a finite time.