Aiming at the time-varying bounded uncertainty in the mechanical system and the problem of excessive control gain caused by the “worst case”, a robust control with tunable parameters that can be used to compensate for the uncertainty is proposed. The proposed control can guarantee that the system has uniform boundedness and uniform ultimate boundedness. Besides, the fuzzy set theory is used to describe the uncertainty to avoid introducing any IF-THEN fuzzy logic rules or probability theory. Based on the non-cooperative game theory, the parameters of the proposed control are optimized. We treat mutually independent parameters to be optimized as players, then design performance indexes for each parameter as its cost function, and solve the optimal result by the definition of Nash equilibrium. Finally, taking the trajectory tracking control of omnidirectional mobile platform as an example, the feasibility of the optimization method and the effectiveness of the control are verified by comparing with the other two control methods.

针对机械系统时变有界不确定性和“最坏情况”导致的控制增益过大问题，提出了一种可用于补偿不确定性的可调参数鲁棒控制。所提出的控制可以保证系统具有一致的有界性和一致的最终有界性。此外，使用模糊集理论来描述不确定性，避免引入任何 IF-THEN 模糊逻辑规则或概率论。基于非合作博弈论，对所提出的控制参数进行了优化。我们将相互独立的待优化参数视为参与者，然后为每个参数设计性能指标作为其成本函数，并通过纳什均衡的定义求解最优结果。最后，