Based on the equivalent control method and Lyapunov feedback function law, a hierarchical variable structure sliding mode controller is proposed for a two-DOF horizontal underactuated manipulators.

• 摘要针对二自由度水平欠驱动机械臂系统，提出一种基于等效控制理论和李雅普诺夫反馈函数法的分层滑模变结构控制方法。