Keywords acrobat,underactuated mechanical systems,nonholonomic systems,fuzzy,,,,control,TS frizzy model,variable structure control,LQR control,linear matrix inequalities.;

• 体操机器人;欠驱动机械系统;非完整系统;模糊控制;TS模糊模型;变结;构控制;LQR控制;线性矩阵不等式。;