研究了具有未知惯性参数非完整动力学系统的镇定问题．对于一类非完整系统，给出了一种新的时变自适应律镇定律．不同于其它文中的控制律，该镇定律不是高增益的．文中也讨论了一般不确定非完整动力学系统的镇定问题，证明了时变周期镇定律的存在性．一个简单的例子说明了如何应用文中结果设计镇定律，仿真结果表明了本文所提设计方法的有效性． The problem of stabilization of nonholonomic dynamical systems with unknown inertia parameters is studied. For a class of nonholonomic systems, a new law of time-dependent adaptive law of the town is given. Unlike other control laws, the law of the town is not high-gain. In this paper, we also discuss the stabilization problem of the general uncertain dynamical systems with nonholonomic dynamics and prove the existence of the stability law of the time-varying periodic system. A simple example shows how to apply the results of the design of the law of the town, the simulation results show that the design method proposed in this article is valid.