Abstract: The sliding mode control has quick response and takes on invariability to system parameter and external disturbance，which can assure the asymptotic stability of system，but being strong chattering of control is the shortcoming.Therefore，the Low Pass Filter（LPF） is introduced on base of common sliding mode control.The control law can guarantee fast convergence of trajectory tracking error as well as robustness for external disturbances and parameter uncertainties.The results of simulation about a two-link robotic manipulator show that the scheme can achieve tracking effect with high precision and speediness，as well as eliminate chattering of control under the condition of existing model error and external disturbance.

Key words: robot, nonlinear systems, sliding mode control, Low Pass Filter（LPF）

摘要： 滑模控制响应快，对系统参数和外部扰动呈不变性，可保证系统的渐进稳定性，但其缺点是控制存在很强的抖动。在一般滑模控制的基础上引入低通滤波器（LPF），则保证了轨迹跟踪误差的快速收敛，同时使系统具有很强的鲁棒性。通过对两连杆机械手的仿真研究，表明在存在模型误差和外部扰动的情况下，该方案既能达到高精度快速跟踪的目的，又能消除滑模控制的抖动问题。

关键词: 机器人, 非线性系统, 滑模控制, 低通滤波器