中文摘要：

为了得到稳定有序的道路交通流，依据离散趋近律，设计了交通流的速度控制器．考虑到由于匝道的流入和流出使得交通流具有不确定性，设计了动态扰动补偿器．以各路段的密度为控制目标，先通过密度函数的离散趋近律求得目标速度，然后利用速度控制器使得速度在有限步内等于目标速度．当控制器参数满足一定条件时，交通流密度最终稳定在一定的范围内，同时给出了算法步骤和证明．仿真结果显示，速度控制器将有匝道路段的交通流密度稳定在指定值附近，而无匝道路段的交通流密度趋于指定值，从而避免了道路拥挤的发生．

英文摘要：

In order to get stable and orderly road traffic flow, the speed controller is designed based on the discrete approaching law. By considering the uncertain of traffic flow arising from the inflow and outflow of the ramp, the disturbance compensator is designed. The density of each section is the control objective. Firstly, the target speed is obtained through discrete reaching law of density function. Then the speed controller is used, which makes the speed equal to the target speed in limited steps. The density is stabilized within certain range finally if the parameters satisfy certain conditions, and the algorithm steps and proof are given. The simulation results show that the speed controller stabilizes the density of the section with ramp around specified value, and the density of the section without ramp tends to specified value, thus road congestion is avoided.