中文摘要：

针对电动舵机系统要求在有限时间内无误差跟踪目标的问题，研究了Terminal滑模控制方法。针对常规Terminal滑模控制需要知道不确性的上界且容易产生高频抖振的问题，采用模糊技术对电动舵机的不确定性进行估计，并将其与常规Terminal滑模控制结合起来．提出了模糊Terminal滑模控制技术。建立了电动舵机的模糊Terminal滑模控制系统结构，给出了控制器的设计方法。实验与仿真结果表明，与常规Terminal滑模控制器相比，模糊Terminal滑模控制器能有效降低抖振，改善了控制器的动态品质。

英文摘要：

A terminal sliding mode （TSM） control method was researched as to the problem of electric steering engine （ESE） requiring position tracking with zerro-error during limited time. In order to solve the problem of chattering and to know the upper bounds of uncertainties in traditional TSM control, a fuzzy Terminal sliding mode （FTSM） method was proposed. The FFSM method used fuzzy technique to estimate upper bounds of uncertainties of ESE and combined traditional TSM control method. A FTSM control system structure of ESE was established and the controller design method was explored in detail. Experiment and simulation results demonstrate the FTSM controller, compared with traditional TSM, can decrease the chattering phenomenon and improve dynamic quality effectively.