Lyapunov stability analysis method proves that the closed-loop system is semi-globally uniformly stable and the tracking error can be made arbitrarily small. ( 2) In order to improve the performance of sliding mode control, sliding mode control method is combined with different kinds of observers.

  • Lyapunov稳定性分析方法证明了闭环系统半全局一致稳定以及跟踪误差可以任意小。为了提高滑模控制的性能,将滑模控制方法与观测器的方法相结合。

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