通过状态和输入反馈变换将系统模型转换为二阶链式标准型，并对标准型给出一种时变光滑指数镇定控制律。
The state and input feedback transformations were constructed explicitly to convert the second-order nonholonomic system to second-order canonical chained form.
通过状态和输入反馈变换将系统模型转换为二阶链式标准型，并对标准型给出一种时变光滑指数镇定控制律。
The state and input feedback transformations were constructed explicitly to convert the second-order nonholonomic system to second-order canonical chained form.
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