非线性控制系统的能控性及在刚体动力学中的应用

The Controllability of Nonlinear Control System and Its Application to Dynamics of Rigid Body

在 [4 ]的基础上运用不变流形研究非线性系统的能控性问题 .由于不变流形的构造较为容易 ,通过实例表明 ,文中得到的仿射非线性系统能控性定理在刚体动力学中的应用是有效的 .

Based on the oriented manifold method of [4],the authors of this paper study the problem of controllability of nonlinear control system by invariant manifold method. Since the construction of invariant manifold is not too difficult, the authors illustrate the efficiency of the controllability theorem about an affine nonlinear system.