不确定系统反推滑模变结构理论及其应用

反推滑模变结构控制是当前不确定非线性系统鲁棒控制理论和应用的前沿课题之一，在提高、改善控制系统过渡过程品质和鲁棒性等方面表现出较大潜力，尤其在航空航天等高技术领域有着广阔的应用前景。首先，从不同设计方案角度详细综述了反推滑模变结构控制的理论研究现状。其次，介绍了该方法在航空航天、机器人、电机和电液伺服系统等控制领域的工程应用现状。最后，讨论了反推滑模变结构控制目前存在的问题及其可能的解决途径。

Theory and applications of backstepping sliding mode variable structure control for uncertain systems

Backstepping sliding mode variable structure control is one of the advanced research directions of robust control theory for uncertain nonlinear systems and is of wide applications in high technical field, especially in aeronautical and astronautical domain due to its strong potential ability to improve transient performance of system tracking error and robustness. Firstly, the present state of theoretical research of backstepping sliding mode variable structure control is particularly summarized from different design approaches, and then its applications in some engineering domains such as aeronautics and astronautics, robot, motor and electro-hydraulic servo system are introduced. Finally, the existing problems and possible solving approaches to backstepping sliding mode variable structure control are discussed.