具备高速精准运动能力是球形机器人技术发展的重要方向。针对高速运动状态下外界扰动和系统抖振等因素对球形机器人精准直线运行产生的影响，开展面向高速直线运动的分数阶自适应分层积分滑模控制方法的研究。提出面向高速直线运动的球形机器人标准动力学模型并且以此作为控制方法的研究基础，将积分项和分数阶微积分项与分层滑模控制方法相结合，并且对高速运动过程中的未知扰动进行自适应评估和补偿，基于BYQ-GS高速运动球形机器人对该方法的控制效果展开验证。研究结果表明，在高速直线运动状态下，随着速度的增大，该控制方法能够有效提高系统响应速度、收敛速度、稳定性和鲁棒性，对球形机器人高速精准控制的实现有重要的意义。

The development of spherical robots with high-speed and precise motion capability is of great importance.Aiming at the influences of factors such as external disturbances and system chattering on the high-speed and precise motion of a spherical robot, a fractional adaptive hierarchical integral sliding mode controller (F-AIHSMC) was introduced.The standard dynamic model of the spherical robot in the state of high-speed linear motion was established and used as the basis for the study of control method.The integral and fractional calculus terms were integrated into the hierarchical sliding mode control method, and the unknown disturbance during high-speed motion was adaptively evaluated and compensated.Finally, the control effect of the method was verified by using a BYQ-GS spherical robot as an example.The results show that, as the speed increases, the F-AIHSMC can effectively improve the response speed, convergence speed, robustness and stability of the system in high-speed linear motion.The study is of great significance for the realization of high-speed and precise control of spherical robots.