Based on the built mathematic model for lunar robber a two - closed - loop tracking control strategy is proposed . this proposed strategy applies single neural sliding mode control method for nonhomonomic constraints , fuzzy control method for uncertain conditions and lagrange optimization calculation for the redundancy of the inputs 考虑到系统模型中存在的非完整特性、参数不确定性和冗余输入,分别采用单神经元滑模变结构方法、模糊控制方法和拉格朗日极值法来设计控制器。
Therefore , many advanced control theories , such as adaptive control , fuzzy control , nn etc . have been applied to variable structure system to reduce the chattering . considering the current developed vsc theory and the new requirements from the practice , some desiderated problems are studied and discussed . the single , double , parallel and triple inverted pendulums have been controlled by the sliding mode controller ( smc ) successfully 本文在掌握滑模变结构控制理论的国内外研究现状，结合实际应用对滑模变结构控制理论提出的新要求基础上，对目前滑模变结构控制理论面临的几个问题进行了深入的研究，同时理论联系实际，将滑模变结构控制理论成功地应用于倒立摆系统控制中。
5 . combined the fuzzy control and the sliding mode control , an approach of distance - based fsmc is presented , and provides learning algorithms to improve system performance . the results of simulation and experiments show that the method above can eliminate the chattering , robust to the parameters change and load disturbance , and realize easily 5 、将模糊控制与滑模变结构控制相结合，提出一种基于“距离”的模糊渭模变结构控制策略，并利用自学习算法改善系统性能，在试验装置基础上对该方法进行了试验研究，仿真与试验结果表明该方法能消除抖振，具有较好的鲁棒性，且控制简单易实现，具有一定的实用性。
