针对一类有界扰动不确定非线性系统,讨论了鲁棒自适应ε输出跟踪问题.利用Backstepping方法和鲁棒控制技术,对存在未知参数和动态不确定性的非线性系统设计了一种自适应输出反馈控制器.基于Lyapunov稳定性理论所设计的控制器不仅保证闭环系统状态全局一致有界,而且使系统的跟踪误差收敛到一个很小的邻域内.仿真结果表明了所设计方法的有效性. For a class of bounded disturbed uncertain nonlinear systems, the problem of robust adaptive ε output tracking is discussed. Using Backstepping and robust control techniques, a nonlinear system with unknown parameters and dynamic uncertainties Adaptive output feedback controller.The controller designed based on the Lyapunov stability theory not only ensures that the state of the closed-loop system is globally uniform and bounded, but also keeps the tracking error of the system converging into a small neighborhood.The simulation results show that the proposed method is effective Sex.