A formulation of the stabilizing control law is obtained for control-affine driftless systems by means of approximating the value function of the performance index by a CLF.
采用CLF近似性能指标的值函数，获得了控制仿射无漂系统的镇定控制律表达式。
A formulation of the stabilizing control law is obtained for control-affine driftless systems by means of approximating the value function of the performance index by a CLF.
采用CLF近似性能指标的值函数，获得了控制仿射无漂系统的镇定控制律表达式。
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