本文将滑动模设计思想转变为较弱的滑动域吸引性设计,并以此提出了一种机械手速度观测方案,证明了观测误差的一致有界性,进而将这一观测方法应用于控制器设计中,并给出了控制误差上限,这一误差限与观测噪声限有关,而与实际运动轨迹无关,所以该方法具有较高的实用性和鲁棒性,实验结果验证了它的有效性. In this paper, the idea of ​​sliding module design is changed into a weak sliding-domain attractive design, and a robot speed observation scheme is proposed to prove the uniform boundedness of the observed error. Then, this observation method is applied to controller design , And gives the upper limit of control error. The error limit is related to the observed noise limit, but not related to the actual motion trajectory. Therefore, this method has high practicability and robustness. The experimental results verify its effectiveness.