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基于计算力矩结构，研究参数和结构不确定的机器人轨迹跟踪的鲁棒控制策略．其特点是利用了机器人不确定动力学的集中包络函数，在该包络函数已知的情况下，设计的非线性连续补偿控制律能够有效消除系统的不确定性影响，保证系统达到三种不同的稳定性结果．另外，在该包络函数参数未知时，还设计了一个新颖的在线辨识器，可保证系统指数意义下的渐近收敛或一致有界．
Based on the calculation of moment structure, the robust control strategy of robot trajectory tracking with uncertain parameters and structural uncertainties is studied. It is characterized by the use of a centralized envelope function of robot uncertain dynamics. Given the known envelope function, the design of nonlinear continuous compensation control law can effectively eliminate the impact of system uncertainty to ensure the system to achieve three Different stability results. In addition, when the parameters of the envelope function are unknown, a novel online recognizer is designed to ensure asymptotic convergence or uniform boundedness in the sense of system index.