针对存在未知干扰和未建模动态等不确定性的系统的自适应鲁棒跟踪控制问题进行了探讨 .首选将e1 优化控制器的有限拍设计方法结合给出了最优鲁棒稳态跟踪控制器的设计方法 .然后利用集员辨识的思想 ,将名义模型的参数和未建模动态及干扰的大小作为未知参数 ,提出了一种递推参数估计方法 .最后将上述研究结果结合起来提出了一种自适应鲁棒跟踪控制策略 ,证明了自适应算法的全局收敛性并给出了鲁棒跟踪性能指标的一下较紧的上界 .与现有的结果相比 ,本文提出的自适应控制具有非保守的鲁棒稳定性 ,具有渐近最优的鲁棒跟踪性能 The problem of adaptive robust tracking control for systems with uncertainties such as unknown disturbance and unmodeled dynamics is discussed.Preferably, the limited optimal design method of e1 controller is used to give the optimal robust steady-state tracking control Then using the idea of ​​collector identification, we propose a recursive parameter estimation method using the parameters of the nominal model and the unmodeled dynamics and the size of the disturbance as unknown parameters.Finally, the above results are combined An adaptive robust tracking control strategy proves the global convergence of the adaptive algorithm and gives a tighter upper bound of robust tracking performance index.Compared with the existing results, the proposed adaptive control It has non-conservative robust stability and asymptotically optimal robust tracking performance