Abstract：In this paper we discuss the problem of robust stabilization for the time-varying uncertain robot control systems, present the robust stabilization sufficient condition for the systems and construct astatic state feedback stabilizing controller.
[1] 郭巧.一种新型的冗余机器人任务空间分散自适应鲁棒控制方案.控制理论与应用,1992.9(3), 279-282
[2] Isidori A. Nonlinear Control Systems. New York, Springer-Verlag, 1989
[3] Tomei P. Robust Stabilization of Feedback Linearizable Time-varying Uncertain Nonlinear Syetema. Automatica. 1993.29:181--189
[4] Nijmeijer H. van der Schaft A. Nonlinear Dynamical Control Systems. Springer-Verlag, Berlin, 1990
[5] Francis B A. A Courts in H-infinity Control Tbeory. New York, Springer-Verlag
[6] Kanellakopoulos I, Kokotovic P V. Morse A S. Systematic Design of Adaptive Controller for Feedback Nonlinear Sys-terra. IEEE. 1991.AC-36,1241-1253
