研究了非完整移动机器人动力学模型中带有参数不确定和控制受限的鲁棒轨迹跟踪控制器的设计问题 .在建立移动机器人的全动态误差模型的基础上 ,应用滚动时域控制 (RHC)和线性矩阵不等式 (LMIs)方法 ,设计了鲁棒跟踪控制器 ,在满足非完整和控制约束的条件下 ,实现了机器人位置 ,导向角以及速度的同时渐近跟踪 .系统稳定性的充分条件以LMI的形式给出 .仿真结果验证了提出方法的可行性和有效性 The design problem of robust trajectory tracking controller with uncertain parameters and limited control in nonholonomic mobile robot kinematics model is studied.On the basis of establishing the full dynamic error model of mobile robot, ) And linear matrix inequalities (LMIs), a robust tracking controller is designed to realize the simultaneous asymptotic tracking of robot’s position, steering angle and velocity under the conditions of non-completeness and control constraints. Sufficient conditions of system stability Given in the form of LMI.The simulation results verify the feasibility and effectiveness of the proposed method