一类非完整系统镇定控制器的迭代设计方法

imed at a kind of nonholonomic system that can be transformed into chained form system, an iterative design method of stabilization controller was proposed in this paper. Using the proposed method, it can start from the stabilization controller of low dimensional nonholonomic chained system to design that of high dimensional nonholonomic chained system through iteration. And it was proved that the stabilization controller through the proposed method could guarantee all the states of n-dimensional system exponentially converge to the origin. Finally, the effectiveness of the stabilization controller using the proposed method was shown through a simulation.