提出了一类基于非线性滑动模的鲁棒自适应分散控制策略 ,用于不确定性机器人的轨迹跟踪 .该控制器结构简单 ,由一个分散的补偿控制器、一个非线性反馈项和一个线性反馈构成 ,其实现只需了解系统的期望轨迹和各关节输出的位置及速度状态 ,而不需要详细的系统模型 .其主要特点是基于一类饱和型函数提出了一类非线性补偿控制器和一类非线性滑动模的设计方法 ,能够消除现存文献在设计机器人分散控制器时做的所有限制性假定 .基于 Lyapunov理论的严格分析和计算机仿真均证明该控制策略能够有效地克服通常难于建模的摩擦力和外部扰动影响 ,并保证系统误差状态全局的渐近稳定 A robust adaptive decentralized control strategy based on nonlinear sliding mode is proposed for trajectory tracking of uncertain robots. The controller is simple in structure and consists of a decentralized compensation controller, a nonlinear feedback term and a linear Feedback, which only need to know the expected trajectory of the system and the position and velocity of each joint output, without the need of a detailed system model.The main features of the proposed system are based on a class of saturated functions and a class of nonlinear compensation controllers and A class of nonlinear sliding mode design method can eliminate all the restrictive assumptions made in the existing literature when designing a decentralized robot controller.The rigorous analysis and computer simulation based on Lyapunov theory both prove that the control strategy can effectively overcome the difficulty of modeling Of the friction and external disturbances, and to ensure that the global error state asymptotic stability