提出了一种新颖的鲁棒自适应控制策略，用于不确定性机器人的轨迹跟踪．它不需要任何模型知识，唯一需了解的是系统的阶数和输出的位置及速度状态。理论和仿真均证明，系统的不确定性诸如摩擦力、外部扰动及未建模动力学带来的不确定性影响，均可被设计的控制律补偿，最后可保证全局指数收敛或全局一致最后有界的结果．另外，本文还给出了跟踪误差的暂态测量． A novel robust adaptive control strategy is proposed for trajectory tracking of uncertain robots. It does not need any model knowledge, the only thing to know is the order of the system and the output’s position and speed state. Both the theory and simulation prove that the uncertainty of the system such as friction, external disturbances and uncertainty caused by unmodeled dynamics can be compensated by the designed control law, and finally the global index can be converged or globally consistent Bounded result In addition, this paper also gives a transient measurement of tracking error.