非完整约束

完整约束与非完整约束的动力学比较

Constraint of Powers THE Comparison of Dynamical Equation About Holonomic Constraint and Nonholonomic Constraint

受非完整约束移动机器人的跟踪控制

Tracking control of mobile robots with nonholonomic constraint

多刚体系统嵌入随机线性非完整约束的Kane方程

Kane Equation for Systems of Rigid Bodies with Stochastic , Linear and Nonholonomic Embedded Constraints

相空间中单面非完整约束系统相对运动的Noether理论

Noether 's Theory of Non-holonomic Systems with Unilateral Constraints Relative to Non-inertial Reference Frame

本文针对非完整约束移动机器人纯滚动无滑动这个约束条件，设计了一种在极坐标系下基于Lyapunov函数的全局渐进镇定控制器。

This dissertation aim at the constraint condition that " pure roll without slippage ", designed an asymptotically stabilizing controller based on Lyapunov function under polar coordinates .

在一定条件下经典非完整约束下的Lagrange方程可化为扩展的链式系统。

It is demonstrated that under appropriate assumptions Lagrange 's equations , including classical nonholonomic constraints , can be transformed to the extended chained form system .

带任意阶非完整约束的力学系统的广义能量积分和广义Whittaker方程

Generalized energy integral and generalized Whittaker equations of mechanical systems with nonholonomic constraints of arbitrary order

二阶非完整约束的力学系统在广义坐标下的Mac-Millan型方程

Mac-Millan Equations of Mechanical System with Second Order Non-Holonomic Constraints under Generalized Coordinates

二阶非完整约束系统的Mac-Millan型方程

Oo the Mac-Millan Type Equations of Mechanical Systems With Non-holonomic Constraints of 2nd Order

本文以达朗伯原理、Kane方程的理论为基础，讨论碰撞运动的基本概念并推导运动方程。从方程、方程、方程的理论基础导出某些适用于解具有一阶非完整约束系统碰撞运动的方程。

In this paper , the fundamental concept concerning impulsive motion and the equations for impulsive motion are introduced on the basis of D ' Alembert 's Principle and Kane 's Equations .

本文从Gauss原理出发，经过推导得到二阶非完整约束的力学系统在广义坐标下的Mac-Millan型方程。并且说明了所得方程的正确性。

Based on the Gauss principle , the authors derive Mac-Millan equations for mechanical system with second order non-holonomic constraints under generalized coordinates , and explain the correctness of the equations .

从万有D'Alembert原理出发，得到了任意阶非完整约束系统准速度和准加速度联合表示的Appell方程。

According to D'Alembert 's principle , the paper presents the Appell equations for any order non-holonomic systems , formulated in terms of quasi-velocities and quasi-accelerations .

对于非完整约束系统，建立了转动系统的相对论性Routh方程、Чаплыгин方程、Nielsen方程和Appel方程；

For the systems with nonholonomic constraints , the relativistic Routh equation , Chaplygin equation , Nielsen equation and Appell equation of the rotational systems are constructed ;

以圆盘在粗糙水平面上的滚动为例，将相空间中准坐标下约束力学系统的Noether对称性引入动力学，在非完整约束条件下导出了Noether对称变换的守恒量。

Taking disc rolling on a rough surface as example , Noether symmetries and form invariance of dynamical systems in phase space with quasi-coordinates are studied . The conservation quantity of Noether symmetry varying is given under constrained mechanical system .

求得坐标下的广义虚位移表达式，由万有D'Alembert-lagrange原理出发，得到任意阶非完整约束系统准坐标下的Appell方程，并进行了讨论。

An expression of generalized virtual displacement on quasi-coordinates is obtained . By the use of D'Alembert-Lagrange 's principle , Appell equation for any order non-holonomic systems on quasi-coordinates is derived . More discussions on the equation are given .

研究有约束的受迫运动的控制问题，由这类问题的D′Alembert-Lagrange原理导出有完整约束和非完整约束系统的动力学方程，举例说明新方程的应用。

Problems of control over forced motion with constraints are studies Using the principle of D'Alembert-Lagrange for such problems , new forms of dynamical equations for the problem with holonomic and non-holonomic constraints are deduced . Examples are given illustrating applications of such equations .

一类非完整约束动力学系统的人工场导向控制

Steering and control of a nonholonomic dynamic system using artificial fields

受有线性非完整约束的弱变质量系统的小振动

Small vibrations of weakly variable mass systems with linear nonholonomic constraints

灵巧擦窗机器人非完整约束运动学方程及镇定问题的研究

Research on Non-holonomic Constraint Kinematics Equations and Stabilization for the Window-Cleaning Robot

非完整约束系统碰撞运动方程研究

Equations for impulsive motion in a system with non-holonomic constraints

关于一类受非线性非完整约束航天器的运动

On motion of a spacecraft subjected a nonlinear nonholonomic constraint

非线性非完整约束系统的一种动力学方程

A Dynamic Equation for the System of Non-Linear Non-Holonomic Constraints

双体多驱动小车非完整约束点镇定问题的研究

Point Stabilization of the Non-holonomic Vehicle with Multi-driven Two-body

受非完整约束多刚体系统的动力学方程

On dynamic equations of nonholonomic multiple rigid body system

这些矛盾来源于对本质非线性非完整约束的物理实现不清楚。

So the physical realization of intrinsical nonlinear nonholonomic constraint must be studied .

一阶非完整约束的理想约束力

The ideal constraint force of 1-order nonholonomic constraint

非完整约束下腿轮式机器人的路径跟踪控制

Path tracking for hybrid robot with nonholonomic constraints

受有非线性非完整约束系统的小振动

Small Vibration of Systems With Nonlinear Nonholonomic Constraints

对受非完整约束且含模型不确定性的移动机器人基于分层模糊系统设计了跟踪期望几何路径的鲁棒间接自适应控制方案。

Geometric path following control of mobile robots with nonholonomic constraints and model uncertainty is investigated .

非完整约束对于运动规划问题的影响

How nonholonomic constraint affects motion planning