| 1. | Therefore , research work on the control of nonholonomic systems has wide applications and important potential values
因此，非完整系统的控制研究具有广泛应用背景和重要应用价值。 |
| 2. | Typical nonholonomic systems include cars , mobile robots , some of the space robots , underwater robots , and so on
典型的受非完整约束系统(简称非完整系统)包括车辆、移动机器人、某些空间机器人、水下机器人等。 |
| 3. | Nonholonomic machine system has a character that the number of dimensions of input space is fewer than that of controllable posture space
非完整系统的运动约束不可积，因而具有可用较少的控制输入数确定其比控制输入空间维数大的位形空间内的运动。 |
| 4. | As a typical model of the nonholonomic system , the nonholonomic characteristic of wheeled mobile robot arises from the wheel which is rolling without slipping
轮式移动机器人是典型的非完整系统,其非完整特性体现在车轮本身的纯滚动而无滑动限制上。 |
| 5. | The nonholonomic system , constraints of which are presented by the differential eguations , is defiend the mechanical system where differential eguations are not integral
非完整系统是指具有用微分方程表示的约束，且这微分方程不可积分的机械系统。 |
| 6. | The character of the nonholonomic system is that the system is controllable when the the dimension of input space is less than of configuration space . so we pay attention to it day by day
这类机械系统的特性是可用比独立的坐标数目少的控制驱动器对其运动和位形进行控制操作，这也使得非完整系统日益被重视。 |
| 7. | Hamilton principle can be used in holonomic system and intrinsical linear nonholnomic system . the formulas of them are unified . hamiltonian action is stability in intrinsical linear nonholnomic system
本文将hamilton原理应用到本质线性非完整系统，首次证明了在本质线性非完整系统中， hamilton作用量为稳定的作用量；将完整系统和本质线性非完整系统的hamilton原理从形式和本质上统一起来。 |
| 8. | The definitions of intrinsical linear nonholonomic constrain and intrinsical nonlinear nonholonomic constrain are put forward in this paper . the nonholonomic systems are divided into intrinsical linear nonholonomic system and intrinsical nonlinear nonholonomic system
本文首次提出了本质线性非完整约束和本质非线性非完整约束的概念，并将非完整系统区分为本质线性和本质非线性两种不同的情况。 |
| 9. | Further , the paper converted the manipulator into chained system . the reason for processing the conversion is not only general nonholonomic system all can be converted into chained system , more important , the controllable method of chained system is more easy and mature
进一步本文对此机械手进行了链式变换，这并不只因为一般的非完整系统都可以化为链式系统，更重要的是链式系统的控制是比较容易和成熟的。 |
| 10. | They are studied that the nonlinear problem and un - determinate problem of virtual displacement in nonholonomic system in the second chapter . in chapter 3 , they are studied that chetaev model and vacco model in nonholonomic system . a unified form of hamilton principle in intrinsical linear nonholonomic system is studied in chapter 4
第一章对非完整动力学研究的有关现状进行了综合评述；第二章研究了非完整系统虚位移关系的不定性问题与非线性问题；第三章比较研究了一般非完整系统的chetaev模型和vacco模型；第四章研究了本质线性非完整系统的hamilton原理；第五章给出了本文的结论与有关研究的展望。 |
