...，可控系统 [gap=297] Variable mass; Higher order nonholonomic constraint; Boltzmann-Hamel equations; Controllable system ...
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首先通过坐标变换和输入变换，将非线性系统变换为部分线性可控系统。
Firstly, applied coordinates transformation and input transformation, the nonlinear system is transformed into partially linear 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。
Underactuated manipulator system is a typical second-order nonholonomic dynamic systems and isn tan entirely controllable system.
因为非驱动关节不能直接控制，系统属于非完全可控系统，一般的光滑反馈控制方法对这样的系统是无效的。
The unactuated joints can't be controlled directly, so it is an incomplete controllable system. Smooth feedback control is invalid for such system.
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