提出一种不确定非完整 n 维单链系统全局有限时间镇定控制器的设计方法．该方法将单链系统分解为一个一阶子系统和一个 n －1 阶子系统，并采用一种输入状态不连续变换实现两个子系统的解耦，然后基于有限时间 Lyapunov 函数法对两个子系统分别进行控制器设计，保证不确定系统的稳定和有限时间收敛．此外，对 n －1 阶子系统的控制器设计还结合了递归设计方法，并利用切换控制策略，使得解耦后的 n －1 阶子系统不存在奇异，保证控制器的全局稳定性．最后将该控制器应用于一类不确定非完整轮式移动机器人，仿真结果证明了该控制器的有效性．

In this paper,a design method of the global finite- time stabilization controller is proposed for the uncer-tain n- dimensional nonholonomic single chain system.In this method,the single chain system is divided into a first-order subsystem and an (n －1)- order subsystem,and they are decoupled by means of the input- state- scaling tech-nique.Then,the controller of each subsystem is separately designed by means of the finite- time Lyapunov function method,thus guaranteeing the stability and finite- time convergence of the uncertain system.Moreover,the recur-sive design method is also adopted in the controller design of the (n －1)- order subsystem,and the switching con-trol strategy is used to eliminate the singularity of the (n －1)- order subsystem,thus ensuring the global stability of the controller.Finally,the controller is applied to a kind of uncertain nonholonomic wheeled mobile robot.Simula-tion results show that the controller is effective.