The discrete nonholonomic chained system can converge to zero from any initial state exponentially, and the convergence rate can be changed through changing the parameters of the control laws.

• 在它们的作用下，离散非完整链式系统能从任意的初始状态指数收敛到原点，并且通过改变反馈控制律的参数能改变系统各状态的收敛速度。