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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．
In this paper, we discuss the robust output tracking problem for a class of uncertain nonholonomic systems. Firstly, the realization of the reduced order state and the related properties of the constrained system under appropriate conditions are given. Then, a simplified model of the three-wheeled mobile robot under the condition of pure rolling and non-sliding is given. Combined with the variable structure control method, the model is given A specific robust output tracking control law.