It is shown that the proposed controller can guarantee the global boundness of all closed-loop signals and force the tracking error converge exponentially to a small bounded neighborhood of zero.

• 通过引入滑模观测器，避免了对关节角速度信号的测量，该控制器不仅能保证闭环系统所有信号全局有界，且能使跟踪误差以指数速度收剑到零的小邻域内。