The sliding mode dynamics is regular, impulse-free and asymptotically stable.

滑模运动正则、无脉冲模、渐近稳定。

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Valid dynamic sliding mode output that guarantees the system stable zero dynamics was constructed, and a global second order sliding mode control was adopted to circumvent chattering phenomena.

通过构造动态滑模输出，使得系统零动态稳定；采用全局二阶滑模控制来消除抖振。

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First, according to the tracking error dynamics and kinematics described by unit quaternion error and angular velocity error, a sliding mode controller is derived based on Lyapunov theory.

首先根据由误差四元数和误差角速度描述的跟踪误差动力学和运动学方程，设计了基于李亚普诺夫方法的滑模变结构控制律。

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