The state and input feedback transformations were constructed explicitly to convert the second-order nonholonomicsystem to second-order canonical chained form.
通过状态和输入反馈变换将系统模型转换为二阶链式标准型，并对标准型给出一种时变光滑指数镇定控制律。
2
Underactuated manipulator system is a typical second-order nonholonomic dynamic systems and isn tan entirely controllable system.
欠驱动机械臂系统是一种典型的二阶非完整约束动力学系统，属于非完全可控系统。
3
The nonholonomic constrain equation and dynamical control equations of a floating multibody system are derived in this paper.