【摘要】 本文讨论了一类不确定非完整系统的鲁棒输出跟踪问题．首先给出了在适当条件下受限系统的降阶状态实现及有关性质；进而给出了三轮移动机器人在纯滚动与非打滑条件下的简化模型，并结合变结构控制方法对该模型给出了具体的鲁棒输出跟踪控制规律．更多还原

【Abstract】 In this paper, the robust output tracking problem of a kind of uncertain nonholonomic systems is discussed. The reduced dimensional state realization and main properties are given under some assumptions. Then the simplified state space model of 3-wheel mobile robot is given under the conditions of pure rolling and non slipping. Finally, the detailed robust output tracking control law based on the simplified model is presented.更多还原