Key Laboratory of Measurement and Control of CSE (School of Automation;
Southeast University);
Ministry of Education;
Nanjing 210096;
P. R. China;
Shenyang Institute of Automation CAS;
Shenyang 110016;
P. R. China;
履带式移动机器人; Backstepping; 指数镇定; Lyapunov理论; 非完整系统; 指数稳定性; 扰动; 滑动;