Nonholonomic constraint is widespread in many aerospace applications such as space robots, artificial satellites, aircrafts etc. In this paper, the problem of global prescribed-time stabilization is addressed for a category of uncertain nonholonomic constraint systems (namely, nonholonomic systems for short) with actuator dead-zones. To deal with the obstacle that the presence of input dead-zone nonlinearities renders the traditional discontinuous feedback control technique inapplicable to nonholonomic systems, a novel switching-based state-scaling transformation (switching-based-SST) is introduced. This transformation can change the original predefined-time stabilization into the asymptotic stabilization of the transformed one. Under such new framework, a state feedback controller that achieves the prescribed-time convergence performance is developed by using the recursive idea. Finally, a practical application to a unicycle-type mobile robot is presented to confirm the validity of the proposed method.

非完整约束在空间机器人、人造卫星、飞行器等诸多航天应用中广泛存在。 本文针对一类不确定的非完整约束系统（即简称非完整系统）解决全局规定时间镇定问题。致动器死区。为了解决输入死区非线性的存在使传统的不连续反馈控制技术不适用于非完整系统的障碍，引入了一种新的基于切换的状态缩放变换（switching-based-SST）。这种变换可以将原来的预定义时间镇定变为变换后的渐近镇定。在这样的新框架下，使用递归思想开发了实现规定时间收敛性能的状态反馈控制器。最后，提出了一种在独轮车式移动机器人上的实际应用，以证实所提出方法的有效性。