为解决一类系统惯性参数不精确知道且受摩擦力和外界干扰力的不确定非完整移动机械手的跟踪控制问题 ,首先通过消去约束反力 ,将所讨论的控制问题转化成易于解决的等价控制问题 ;然后 ,通过适当的状态变换将系统转化成一种标准型 ;最后 ,利用该标准型的特点提出了解决不确定非完整移动机械手跟踪控制问题的鲁棒控制器。该文所提出的控制器不但能使闭环系统的状态渐近趋于给定的期望轨迹 ,而且具有计算简单的特点。为验证所提出控制律的有效性 ,对一类特殊的不确定移动机械手进行了数字仿真 ,仿真结果验证了所提出控制律的有效性。 In order to solve the tracking control problem of a class of uncertain nonholonomic mobile manipulators with unknown system inertia parameters and unknown frictional forces and external disturbances, the control problem under discussion is first transformed into an easily solved equivalent Then, the system is transformed into a standard model through the appropriate state transition. Finally, a robust controller is proposed to solve the tracking control problem of uncertain nonholonomic mobile manipulator by using the characteristics of the standard model. The proposed controller not only makes the state of the closed-loop system converge to a given desired trajectory asymptotically, but also has the characteristics of simple calculation. In order to verify the validity of the proposed control law, a special kind of uncertain mobile manipulator is simulated and the simulation results verify the effectiveness of the proposed control law.