考虑非完整约束系统的镇定与能控性问题 .文中首先证明了虽然一般地说这类系统不能由光滑反馈镇定 ,但它的存在性依赖于初值 .当初值在一个零测集外时 ,这种反馈镇定确实存在 .然后我们证明了这类系统在分段光滑控制下全局可控 .由于证明是构造性的 ,它给出了相应的控制 . Considering the stabilization and controllability of nonholonomic systems, the paper first proves that although the system can not be stabilized by smooth feedback in general, its existence depends on the initial value. When the initial value is outside a zero-set, This feedback stabilization does exist, and then we show that the system is globally controllable under the piecewise smooth control, and since the proof is constructive, it gives the corresponding control.