【摘要】 研究一类带有未知惯性参数、动静态摩擦及外界干扰的非完整动力学系统的鲁棒控制问题。基于齐次展开的思想，给出了一种鲁棒控制器设计方法，使得闭环系统的广义位置坐标指数镇定，广义速度渐近镇定。将所提出的方法应用于一类移动机器人的镇定控制，仿真结果验证了该方法的有效性更多还原

【Abstract】 This paper investigates the robust control problem of nonholonomic dynamic systems with unknown inertia parameters, dynamic and static frictions, as well as other disturbances. Based on homogeneous approximation, a robust control law is designed, which drives generalized coordinates of the closed loop system to the origin exponentially and generalized velocities to the origin asymptotically. Finally, the proposed result is used to stabilize a mobile robot.Simulation result shows that the approach is effective.更多还原