针对一类含有状态时变时滞的不确定非完整系统,提出一种输出反馈镇定控制算法.通过应用不连续的输入-状态变换和缩放变换,将原始研究系统转换为更利于反馈控制器设计的新系统.基于此系统设计状态反馈控制律,通过构造状态观测器、利用必然等价原理给出理想的输出反馈镇定控制器.分析表明,所设计的控制器能够使得闭环系统的状态渐近趋于零.最后通过仿真实例表明了所提出控制策略的有效性. Aiming at a class of uncertain nonholonomic systems with time varying delays, an output feedback stabilization control algorithm is proposed. By applying discontinuous input-state transform and scaling transform, the original research system is transformed into a more conducive feedback controller design The system is designed based on the state feedback control law and the ideal output feedback stabilization controller is given by constructing the state observer and the inevitable equivalence principle.The analysis shows that the designed controller can make the state of the closed-loop system asymptotic Tends to zero.Finally, the simulation results show that the proposed control strategy is effective.