针对非线性不确定机器人系统的轨迹跟踪控制问题,提出一种鲁棒自适应PID控制算法.该控制器由主控制器和监督控制器组成.主控制器以常规PID控制为基础,基于滑模控制思想设计PID参数的自适应律,根据误差实时修正PID参数.基于Lyapunov函数设计的监督控制器补偿自适应PID控制器与理想控制器之间的差异,使系统具有设定的H∞的跟踪性能.最后,两关节机器人的仿真实验结果表明了算法的有效性. Aiming at the problem of trajectory tracking control of nonlinear uncertain robot system, a robust adaptive PID control algorithm is proposed. The controller is composed of main controller and supervisory controller. The main controller is based on conventional PID control and based on sliding mode The control idea designs the adaptive law of PID parameters and realizes the PID parameters correction according to the error.The supervisory controller designed based on Lyapunov function compensates the difference between the adaptive PID controller and the ideal controller so that the system has a set H∞ tracking Finally, the simulation results of two-joint robot show the effectiveness of the algorithm.