The state and input feedback transformations were constructed explicitly to convert the second-order nonholonomic system 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。
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。
The nonholonomic constrain equation and dynamical control equations of a floating multibody system are derived in this paper.
推导了漂浮多体系统动量矩守恒方程及动力学方程。
Then, the variable mass system dynamic model with nonholonomic constraints are developed for wheeled WCRs.
进一步针对轮式爬壁机器人，建立了非完整约束条件下的变质量系统分析动力学模型。
Then, the variable mass system dynamic model with nonholonomic constraints are developed for wheeled WCRs.
进一步针对轮式爬壁机器人，建立了非完整约束条件下的变质量系统分析动力学模型。
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