研究非完整向量幂式系统的镇定问题 .通过引入一个辅助状态变量 ,此类系统可被转换成一个线性时变系统 ,由此可得到具有指数收敛率的光滑反馈控制律 .该方法优点是控制律光滑并且设计过程简单 ,系统每个状态的收敛率可被事先确定 .仿真结果表明了该方法的有效性 . In this paper, the stabilization of nonholonomic vector power systems is studied. By introducing an auxiliary state variable, such a system can be transformed into a linear time-varying system and a smooth feedback control law with exponential convergence rate can be obtained. The advantage of this method is that control The law is smooth and the design process is simple. The convergence rate of each state of the system can be determined in advance. Simulation results show the effectiveness of the proposed method.