目的 为了解决欠驱动搬运机器人的中心和质心不重合的轨迹跟踪问题。方法 建立非完整性约束的欠驱动机器人的运动学和动力学的模型，基于反步法控制策略生成新的虚拟反馈量，设计跟踪控制器，同时，利用自适应技术对具有不确定跟踪控制器的参数进行校正，通过Lyapunov理论验证控制器的稳定性。结果 仿真实验结果表明，欠驱动搬运机器人的实际轨迹可以快速地跟踪期望轨迹，验证了基于反步法设计的跟踪控制器的可行性和有效性。结论 设计的控制器能够使搬运移动机器人达到良好的轨迹跟踪效果，并且保证了控制器的自适应性。

The work aims to solve the trajectory tracking problem of a class of under-actuated handling robots when the centroid and the center are not coincident. The kinematics and dynamics models of under-actuated robot with nonholonomic constraints were established. Based on the back-stepping control theory, a new virtual feedback was constructed and a tracking controller was designed. At the same time, the adaptive technique was introduced to correct the parameters of the tracking controller with uncertainties. The global stability of the control system was proved by Lyapunov theory. The simulation results showed that the actual trajectory of the under-actuated handling robot could quickly follow the desired path. The feasibility and effectiveness of the tracking controller based on back-stepping method were verified. The designed controller can make the handling robot achieve good trajectory tracking results, and ensure the adaptivity of the controller.