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链式系统是非完整运动学系统的一种标准形式． 通过坐标和输入变换，许多非完整运动学系统均可化为这种形式．当非完整运动学系统可化为链式系统时， 直接基于一类不确定非完整动力学系统， 利用变结构控制的方法设计了全局镇定控制律． 该控制律的特点是： 存在一个有限时间，使得在此时间后闭环系统的状态可以以任意速率指数收敛到零． 最后将该方法用于一类移动机器人的控制器设计，仿真结果验证了该方法的有效性
Chain systems are a standard form of nonholonomic kinematics systems. Through coordinate and input transformation, many nonholonomic kinematic systems can be transformed into this form. When the nonholonomic kinematics system can be transformed into a chained system, the global stabilization control law is designed by using a variable structure control method directly based on a class of uncertain and incomplete dynamical systems. The control law is characterized by the existence of a finite time such that the state of the closed-loop system can converge to zero at any rate after this time. Finally, the method is applied to the controller design of a class of mobile robots. The simulation results verify the effectiveness of the proposed method