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]
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 1356  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  
作者单位E-mail
程代展 中国科学院系统科学研究所, 北京 100080 dcheng@iss03.iss.ac.cn  
慕小武 郑州大学 数学系, 郑州 450052 muxw@public2.22.ha.cn 
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.