Trajectory tracking in free space and torque tracking in constrained space are realized, and reliability of modeswitch and stability of system are achieved in transition.
The tracking error is driven into the given boundary layer by the sliding mode control, and then the switch control is replaced by fuzzy control.
利用滑模控制使系统的跟踪误差进入给定的边界层内,启用模糊控制取代切换控制;
3
The variable structure model was based on the sliding mode control theory to switch the different control strategies of acquisition and pursuit tracking.