该文研究了一类具有时变参数或扰动的非线性系统的鲁棒轨迹跟踪控制问题。假定系统的标称模型是可以反馈线性化的，通过递推构造闭环系统的Ｌｙａ－ｐｕｎｏｖ函数，给出了该类不确定系统的鲁棒输出跟踪控制器设计方案。该控制器能保证闭环系统的状态是一致有界的，且通过对控制器参数的适当选择，可使闭环系统的输出跟踪达到指定的精度要求。最后由一机器人控制系统的仿真研究表明，该文提出的控制方案具有很强的鲁棒性，控制效果是令人满意的。 In this paper, the problem of robust trajectory tracking control for a class of nonlinear systems with time-varying parameters or perturbations is studied. Assuming that the nominal model of the system can be linearly fed back, a robust output tracking controller design for this kind of uncertain system is given by recursively constructing the Lya-punov function of the closed-loop system. The controller ensures that the state of the closed-loop system is uniform and bounded, and the output of the closed-loop system can be tracked to achieve the specified accuracy by proper selection of the controller parameters. Finally, the simulation of a robot control system shows that the proposed control scheme is robust and the control effect is satisfactory.