摘要
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 addresses the motion planning problems for a class of nonlinear systems with nonholonomic constraints. The classification and the controllability conditions of the nonholonomic systems are discussed, the conditions for motion planning of a class of nonholonomic systems are presented as well. Furthermore the motion planning problems of these systems are resolved by variable structure model_reaching control strategy.
出处
《华南理工大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
1999年第8期103-107,共5页
Journal of South China University of Technology(Natural Science Edition)
关键词
非完整系统
运动规划
变结构控制
机器人
nonholonomic system
motion planning
variable structure control
model_reaching system
