中文摘要：

对于含有不确定参数的被控对象，自适应控制是一种很好的方法，其在线性系统中已经有了很多成功应用的范例。但是，对于非线性系统自适应控制器的设计还没有统一的方案，这是由于非线性系统的复杂性造成的。近些年来，针对一些特殊的非线性系统，例如“参数-严格-反馈”形式的非线性系统，已经有相应的自适应控制器设计方案；

英文摘要：

Based on the scope of change of parameters, multiple sliding mode variable structure controllers were designed for a kind of nonlinear system with uncertain parameters. A switching controller was formed with a given index switching function. Under the guarantee of Lyapunov stability, the controller of system would be switched among multiple sliding mode variable structure controllers according to the switching condition. The mechanism of switching could improve the transient response greatly. A robotic arm was studied as a nonlinear system. Multiple sliding mode variable structure controllers were set up according to the dynamic equation of the robotic arm. An index switching function based on output error was given for the design of switching controller of the robotic arm. To test the effectiveness of the switching controller, four simulation examples according to different scopes of parameter change were investigated. From the simulation, it was concluded that the switching controller could enhance the control performance greatly.