论文部分内容阅读
本文研究了一类带有非完整约束的非线性受限系统的运动规划问题． 首先讨论了非完整系统的分类及可控性条件， 并给出一类非完整系统运动可规划条件， 进而采用模型到达系统的变结构控制方法实现了该类非完整系统的运动规划．
This paper studies the motion planning of a class of nonlinear constrained systems with nonholonomic constraints. Firstly, the classification and controllability conditions of nonholonomic systems are discussed. A class of non-complete system motion planning conditions are given. Then the variable structure control method of model arrival system is used to realize the motion planning of such nonholonomic systems.