In this paper,based on Lyapunov backstepping design,a robust tracking controller for 2 degree of freedom electrically driven ceremic manipulators with uncertainty and disturbancd is derived.

• 本文对具有不确定和干扰的二自由度电动陶瓷取坯机械手系统动态模型,采用李雅普诺夫函数递推设计方法设计了鲁棒跟踪控制器。