中文摘要：

为了解决存在外部不确定随机干扰情况下机械臂的高精度轨迹跟踪问题,提出了一种自适应鲁棒滑模控制方法,并用Lyapunov稳定性定理证明了其闭环系统的稳定性。采用饱和函数取代控制器中的符号函数,有效消除了控制器的抖振现象。仿真结果证明：与传统的PID控制器相比,提出的自适应鲁棒滑模控制器具有更高的鲁棒性、稳定性和精度。

英文摘要：

To address high precision tracking control problem of robotic manipulators with external uncertain stochastic vibration,an adaptive sliding mode control strategy was proposed.The stability of the closed-loop system was proved by Lyapunov stability theorem.By using saturated function instead of symbolic function of the controller,the controller could effectively eliminate the chattering phenomenon.Simulation results confirm that the proposed adaptive sliding mode controller has higher robustness,stability,precision to track the desired trajectory compared to conventional PID controller.