Under the presented scheme, the states of the tracking error system will firstly arrive at the sliding mode and then asymptotically reach the origin, that is to say, realize the tracking control.

• 所提出的控制方案，保证追踪误差系统的状态首先在有限时间内到达滑模面，然后渐进收敛到原点，实现了追踪控制。