针对高精度光电伺服稳定平台的低速问题分析中，由于摩擦力矩等非线性干扰的存在，容易产生滞滑爬行现象，严重影响平台的低速性能。本文采用积分滑模变结构控制，提出并设计了新型的趋近律规则。系统实际运行结果证明，本文所设计的控制器能很好地解决较大范围运动时的系统稳定问题，并能消除非线性摩擦所引起的低速“爬行”现象，改善系统的动态品质和静态特性。

For low-speed problem of high precision Opto-electronic (EO) servo-stabilized platform, the precision and performance are always affected by slip-stick, the reason of which is the non-linear friction. An approach of integral sliding mode variable structure controller is proposed, and a novel reaching rule is designed. Actual results of the system show that the presented controller can solve the problem of stability when system moving large range rapidly, eliminate ”creeping” phenomenon, and improve the dynamic and static quality effectively.