针对普通终端滑模控制的奇异性问题，研究一种非奇异终端滑模控制，但该控制方式是以牺牲状态收敛速度为代价的，对此提出一种改进算法，既可以保证终端滑模控制的非奇异性，又可以提高系统状态的收敛速度。同时，为克服“抖动”现象，结合模糊控制的优点，在控制律中加入模糊补偿控制以消除这种抖动现象，最后，对所设计的控制器进行仿真验证，结果表明所设计的控制器的有效性。%Because the conventional terminal sliding mode control has the shortage that the system has the singulars. So we studied the non-singulars terminal sliding mode controller. But the speed of the controller is slower than the conventional terminal sliding mode controller. So a new improved non-singulars terminal sliding mode controller is designed in this paper. The controller can not only maintain the advantages of the non-singulars terminal sliding mode controller, but also accelerate the speed. On the other hand, in order to eliminate the bad influence of incertitude, the author combines the advantages of the fuzzy controller, and adds the fuzzy-control in the Non-singulars terminal sliding mode control to eliminate the bad influence of incertitude. In the end, the author uses the controller in uncertain system, the result shows that the controller has the better effect and the performance is the anticipant.
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