【摘要】 为了提升板球系统的抗干扰能力，提高轨迹跟踪控制精度，基于反步法(backstepping)研究了时变快速终端滑模控制。首先建立板球系统的运动学模型，在分析系统特性及控制要求的基础上确定了合理的控制方案，进而以X轴为例设计包含双曲正切函数的时变滑模控制规律及低通滤波器，并在李雅普诺夫(Lyapunov)框架下证明了闭环系统的稳定性。仿真结果表明，该方法控制精度更高，抗扰能力更强，控制效果更好。更多还原

【Abstract】 In order to enhance the ability of disturbance rejection and improve the accuracy of trajectory tracking control for ball and plate system, this article proposed a time-varying fast terminal sliding mode control based on backstepping technology.Firstly, the kinematic model of the ball and plate system was established, and a reasonable control strategy was determined on the basis of the system characteristics and control requirements.Secondly, taking the X-axis as an example, the time-varying sliding mode control law and low-pass filter containing the hyperbolic tangent function were designed, and the stability of closed-loop systems was obtained under the framework of Lyapunov stability theory.The simulation results showed that the proposed method has higher control accuracy, stronger disturbance rejection ability and better control effect.更多还原