中文摘要：

为了解决某伺服系统在不确定情况下的精确位置控制问题，设计了一种基于干扰观测器的快速光滑二阶滑模控制方法．为使控制器在被控对象的数学模型不是精确、已知情况下也能使用，采用高阶滑模干扰观测器对参数变化和外部扰动进行补偿．使控制不连续项作用在滑模变量的高阶项上，能较好地削弱抖振，并采用李雅普诺夫理论证明了系统的闭环稳定性．仿真实验表明，和一种自适应模糊小波神经网络滑模控制器相比，所设计的控制器可以实现速度更快、精度更高的位置控制，鲁棒性更好．

英文摘要：

To solve the precise position control problem of a certain high power AC servo system, a fast smooth second order sliding mode controller was designed based on disturbance observer. To enable the controller to be used without a precise mathematical model, a high order sliding mode disturbance observer was used as the compensatory to estimate the uncertain parameter and external disturbance. The discontin- uous control function was applied on the high order differential of sliding mode variable to eliminate system chattering. The stability of the closed-loop system was guaranteed based on the Lyapunov theory. Simula- tion results confirm that the proposed sliding mode controller has a better robustness compared to an adap- tive fuzzy wavelet neural network fast terminal sliding model controller. A faster and higher accuracy posi- tion control can be achieved.