本文针对传统滑模变结构控制中存在的三个常见问题,即稳态误差问题、到达阶段的鲁棒性问题以及系统的未知不确定性问题,提出了一种基于等效控制的模糊滑模的控制器设计方法。其中模糊控制器的控制律为等效控制,等效控制将系统状态保持在滑模面上。最后,在一种实际私服系统中应用本控制方法,通过仿真验证得出该方法有效削弱了抖振,系统鲁棒性得到提高。 In this paper, we present three common problems in traditional sliding mode variable structure control: steady state error, robustness in arrival phase and unknown uncertainties in the system. A fuzzy sliding mode control based on equivalent control Controller design method. The control law of the fuzzy controller is equivalent control, and the equivalent control keeps the state of the system on the sliding mode surface. Finally, this control method is applied to a practical personal service system. The simulation results show that this method can effectively weaken the chattering and improve the system robustness.