Abstract: A new dynamic sliding mode control law is presented for tracking control of robot manipulator.New switch function based on backstepping method is designed to transfer discontinuity to derivativeness of the control law，so that the chatterings of control can be eliminated.The control law can guarantee fast convergence of trajectory tracking error as well as robustness for external disturbances and parameter uncertainties.Simulation results prove the validity of theoretic analysis results.

摘要： 针对机器人跟踪控制问题，设计了一种新型的动态滑模控制器，采用反演（backstepping）方法设计一种新的切换函数，将不连续项转移到了控制的一阶导数中，得到了输入的平滑性的动态滑模控制律。该控制律能保证轨迹跟踪误差的快速收敛性和参数不确定的鲁棒性，仿真实例验证了该控制算法的有效性。