针对一类具有虚拟控制方向和非线性不确定项的非完整系统,研究了其输出反馈控制器的设计问题。采用状态转换技术和反推方法,设计了只依赖于输出值的输出反馈控制器。同时为了处理初值为零的情况,提出了基于第一个子系统输出值的切换控制策略,通过仿真算例说明了控制器的有效性。 For a class of nonholonomic systems with virtual control directions and nonlinear uncertainties, the design of output feedback controllers is studied. Using the state transition technique and the inverse method, an output feedback controller that only depends on the output value is designed. At the same time, in order to deal with the situation that the initial value is zero, a switching control strategy based on the output value of the first subsystem is proposed. Simulation results show the effectiveness of the controller.