中文摘要：

针对一般的具有时变且界未知的非线性不确定性的单输入多输出非线性系统．提出一种自适应滑模跟踪控制器的框架。在该框架内，系统的时变且界未知的非线性不确定性可以通过函数逼近技术（FAT）表示成为一组正交基函数序列的组合，并通过滑模控制技术和直接Lyapunov方法获得基函数系数的更新律以及对不确定性逼近误差的在线自适应补偿，从而得到自适应的滑模控制律。所提出的基于函数逼近技术的自适应滑模跟踪控制策略在直流电机跟踪控制系统实验装置上进行了实际控制实验，并进行了性能的对比与分析。

英文摘要：

To general single-input multi-output nonlinear systems with time-varying and bound unknown uncertainty, an adaptive sliding mode tracking control scheme is proposed. The function approximation technique （FAT） is employed to represent the time-varying and bound unknown uncertainty as a finite combination of basis functions. Sliding mode technique and Lyapunov direct method are used to find adaptive laws for updating coefficients in the approximating series and adaptive compensation for on-line approximation error of the uncertainty. The proposed FAT-based adaptive sliding mode tracking control scheme is implemented on an actual direct current motor equipment and the results are analyzed through comparison.