关键词: 控制理论 , 非完整链式系统 , 镇定控制 , 递推设计方法

Abstract: Taking aim at a kind of nonholonomic system that can be transformed into chained form sys?tem, a recursive design method of a stabilization controller was proposed. The stabilization controller of the high dimentional nonholonomic chained system was designed by the method starting from that of the low dimentional nonholonomic chained system. And it was proved that the stabilization controller through the proposed method could guarantee all the states of n - dimensional system exponentially con?verge from the initial state which satisfies x∈Rn ,Xl,n(O)≠O to the origin. The simulated results show that the controller designed by the method is effective on the kind of nonholonomic system.

Key words: control theory , nonholonomic chained system , stabilization , recursive design method