This paper establishes a linear model for vehicle steering system based on vehicle steering dynamics and per-view kinematics, combined with system identification of steering system.

从车辆的转向动力学和预瞄运动学特性出发，结合转向系统的系统辨识，建立了车辆转向系统的线性模型。

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In the paper, according to the dynamics and kinematics principle of the four-rotor VTOL aircraft, non-linear and linear models were established.

文中根据四旋翼垂直起降机的动力学和运动学原理对其建立非线性模型和线性模型。

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