其次，基于能量变化方程，给出了非完整力学系统相对运动的稳定性的一个判据；

Second, a criterion of the stability of relative motion for the nonholonomic mechanical systems was obtained by using the equation of variation of energy.

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提出非完整力学的广义达朗贝尔-拉格朗日原理，包括其牛顿表述和拉格朗日表述。此原理能导出态空间封闭的运动方程组。

Generalized DAlembert-Lagranges principle for non-holonomic mechanics, including its Newtons formulation and Lagrangian formulation, are given. This principle can lead to the closed motion equations.

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研究了非完整移动机器人动力学模型中带有参数不确定和控制受限的鲁棒轨迹跟踪控制器的设计问题。

Designing of robust trajectory tracking controller for mobile robots with parametric uncertainties in the dynamic model and with bounded input is investigated.

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