| 一类非完整系统的变结构控制运动规划 |
| |
| 引用本文： | 李青湘,胡跃明,毛宗源.一类非完整系统的变结构控制运动规划[J].华南理工大学学报(自然科学版),1999,27(8):103-107. |
| |
| 作者姓名： | 李青湘 胡跃明 毛宗源 |
| |
| 作者单位： | 华南理工大学自动控制工程系!广州510640 |
| |
| 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。
|
| 关 键 词： | 非完整系统 运动规划 变结构控制 机器人 |
VARIABLE STRUCTURE MOTION PLANNING FOR A CLASS OF NONHOLONOMIC SYSTEMS |
| |
| Li Qingxiang,Hu Yueming,Mao Zongyuan.VARIABLE STRUCTURE MOTION PLANNING FOR A CLASS OF NONHOLONOMIC SYSTEMS[J].Journal of South China University of Technology(Natural Science Edition),1999,27(8):103-107. |
| |
| Authors: | Li Qingxiang Hu Yueming Mao Zongyuan |
| |
| Abstract: | 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. |
| |
| Keywords: | nonholonomic system motion planning variable structure control model_reaching system |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
