| 引用本文: | 程代展,慕小武.一类非完整约束系统的镇定与能控性（英文）[J].控制理论与应用,2002,19(3):467~470.[点击复制] |
| CHENG Daizhan,MU Xiaowu.Stabilization and Controllability of a Class of Nonholonomic Systems[J].Control Theory and Technology,2002,19(3):467~470.[点击复制] |
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| 一类非完整约束系统的镇定与能控性（英文） |
| Stabilization and Controllability of a Class of Nonholonomic Systems |
| 摘要点击 1352 全文点击 1105 投稿时间：2001-03-12 修订日期：2002-02-20 |
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| DOI编号 |
| 2002,19(3):467-470 |
| 中文关键词 非完整约束系统 镇定 能控性 状态反馈 有限时间控制 |
| 英文关键词 nonholonomic system stabilization controllability state feedback finite time control |
| 基金项目 |
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| 中文摘要 |
| 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. |
| 英文摘要 |
| 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 smooth state feedback control, which stabilizes the system, does exist, 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 by piecewise smooth control. The proofs are constructive so the controls are provided precisely. |
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