Presented here is a passivity technique used to design a saturated robust adaptive controller for a class of nonholonomic mobile robot subjected to input disturbances and satisfying the matched condition 摘要对一类满足匹配条件的输入干扰不确定性非完整约束移动机器人，借助无源化设计方法提出了一种饱和鲁棒自适应控制器。
