研究了一类更具有一般性的强漂移高阶非完整系统的指数调节问题. 首先通过指数形式的input-state-scaling不连续变换将原$x$子系统的指数调节问题转化为变换后$z$子系统的镇定问题,  并有效克服$x$子系统在控制输入$u_0=0$时不能控的问题.然后基于 ``加幂积分器" 反推方法设计鲁棒控制器, 在新的切换策略下,使闭环系统状态指数收敛到零点.仿真例子验证了所提方法的有效性.

The problem of exponential regulation is addressed for a class of more general uncertain high-order nonholonomic systems with strong nonlinear drifts. First of all, a discontinuous input-state-scaling transformation in exponential form is introduced to convert exponential regulation of the x subsystem into the stabilization problem of the z subsystem, and hence the phenomenon of uncontrollability in u0 = 0 is avoided. Then, by using the method of adding a power integrator, a state feedback controller is successfully designed. Based on a novel switching strategy, the proposed controller guarantees that the closed-loop system state exponentially converges to zero. A simulation example is provided to illustrate the effectiveness of the proposed approach.