采用一类具有“小误差放大、大误差饱和”功能的非线性饱和函数来改进常用的线性比例-微分加(PD+)机器人系统动力学控制,以形成非线性PD+(NPD+)控制,从而获得更快的响应速度和轨迹跟踪精度.应用Lyapunov直接稳定性理论和LaSalle不变性原理证明了闭环系统的全局渐近稳定性.两自由度机器人系统数值仿真结果表明了所提出的NPD+控制具有良好的控制品质. A class of nonlinear saturation functions with the function of “small error amplification, large error saturation” are used to improve the conventional linear proportional-differential plus (PD +) robot system dynamics control to form nonlinear PD + (NPD +) control, And obtain faster response speed and trajectory tracking accuracy.The global asymptotic stability of the closed-loop system is proved by Lyapunov direct stability theory and LaSalle invariance principle.Numerical simulation results of the two-degree-of-freedom robot system show that the proposed NPD + control has good Control quality.