控制理论与应用2002，Vol.19Issue(3)：467-470,4.
一类非完整约束系统的镇定与能控性
Stabilization and Controllability of a Class of Nonholonomic Systems
摘要
Abstract
In this note, the stabilization and controllability of a class of nonholonomic control systems are considered.First of all, it is shown that even though in general a snooth state feedback control, which stabilizes the system, does exist[1],the existence depends on the initial position of the system. It does exist except a very limited measure-zero set. Then we show that the systems are globally controllable by piecewise smooth controls. As a corollary, the systems are finite time stabilizable bypiecewise smooth control. The proofs are constructive so the controls are provided precisely.关键词
非完整约束系统/镇定/能控性/状态反馈/有限时间控制Key words
nonholonomic system/stabilization/controllability/state feedback/finite time control分类
信息技术与安全科学引用本文复制引用
程代展,慕小武..一类非完整约束系统的镇定与能控性[J].控制理论与应用,2002,19(3):467-470,4.基金项目
supported by National 973 Project (G1998020308). （G1998020308）
