目的 探讨存在基础振动情况下，物料搬运机的时间最优定位控制问题。方法 使用第2类Lagrange方法建立系统的动力学方程，设计一种基于隐式Lyapunov函数的时间最优控制器。结合时间最优稳定性引理，采用Lyapunov理论证明了所提控制算法能使定位误差在最优时间内收敛到原点。结果 控制器增益表现为连续时变的PD型控制，当系统状态变量逐渐趋于0时，控制器增益作为系统状态变量的可微函数逐渐趋于无穷大。结论 数值仿真显示，该控制器能克服基础振动影响，使物料搬运机快速机动到指定位置，具有时间最优特性和较强的抗干扰性。

The time-optimal positioning control of a material transfer manipulators are analyzed in consideration of base oscillation. The second Lagrange method is used to establish the dynamic equation of the system, and a time-optimal controller based on implicit Lyapunov function is designed. Combined with the time-optimal stability lemma, Lyapunov theory is used to prove that the proposed control algorithm makes the positioning error converge to the origin in the finite time. The controller gain is continuous time-varying PD control. When the system state variable gradually approaches zero, the controller gain, as a differentiable function of the system state variable, gradually approaches infinity. The simulation results show that the controller can overcome the influence of base oscillation, and make the material transfer manipulators move to the specified position quickly with the time-optimal characteristics and anti-interference ability.