简介：InthispaperconservationlawsofnonholonomicnonconservativedynamicalsystemsarestudiedbyusingthedifferentialvariationalprinciplesofJourdainandthegeneralizedNoether’sidenti-tiesofnonconservativesystemssubjecttofirstordernonlinearnonholonomicconstraintsareprovided.

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简介：Theexponentialstabilizationproblemofarobot-camerasystemwithunknowncameraparametersisinvestigated.Basedonthevisualfeedbackandthestate-inputtransformation,anuncertainchainedformmodelispresentedforatypeofnonholonomicmobilerobots.Then,anewtime-varyingfeedbackcontrollerisproposedtostabilizetheuncertainsystemexponentiallywiththehelpofthestabilizationtheorems,state-scalingandswitchingtechniques.Theexponentialstabilityoftheclosed-loopsystemisrigorouslyproved.Simulationresultsaregiventodemonstratetheeffectivenessoftheproposedstrategies.

简介：为nonholonomic的一个柔韧的适应控制器有未知运动学、动态的参数的活动机器人被建议。其产量是相关动态控制器的输入的一个运动学的控制器被使用背走的概念提供。一个适应算法在运动学的控制器被开发接近未知运动学的参数，和一个简单单个层的神经网络被用来表示高度非线性的机器人动力学以知道并且未知参数。以便在追踪性能上稀释不确定性和骚乱的效果，一个滑动模式控制术语被加到动态控制器。在为不明确的动态系统的反馈控制器的确定的设计，不确定性的标准上的上面的界限是重要线索保证靠近环的系统的稳定性。然而，因为不确定性的结构的复杂性，有时，这些上面的界限不能容易被获得。从而，简单改编法律在不确定性的标准上被建议到近似上面的界限处理这个问题。建议控制系统的稳定性通过Lyapunov方法被显示出。最后，为有二个激活的车轮的一个活动机器人的一个设计例子被提供，控制器的可行性被数字模拟表明。

简介：这篇论文与强烈非线性的不确定性调查nonholonomic控制系统的柔韧的稳定。为了使州的可伸缩有效并且阻止有限时间，从发生逃离现象，切换的控制策略基于第一个分系统的州的测量被采用完成asymptotic稳定。走技术的回来的递归的综合者被用于柔韧的控制器的设计。模拟例子表明效率和建议方法的柔韧的特征。

简介：基于这个概念断热不变，不安和为nonholonomic的Mei对称的断热的invariants机械系统被学习。为没有不安的系统的Mei对称的准确invariants被给。到Meisymmetry的不安被讨论，为使不安的系统的Mei对称的断热的invariants被获得。

简介：Inthispaper,theparametricequationswithmultipliersofnonholonomicnonconservativesys-temsintheeventspaceareestablished,theirpropertiesarestudied,andtheirexplicitformulationisobtained.Andthenthefieldmethodforintegratingtheseequationsisgiven.Finally,anexampleillustratingtheappli-cationoftheintegrationmethodisgiven.

简介：ThispaperusesPoincaréformalismtoextendtheLevi-Civitatheoremtocopewithnonholonomicsys-temsadmittingcertaininvariantrelationswhoseequationsofmotioninvolveconstraintmultipliers.Sufficientcondi-tionsallowingsuchextensionareobtainedand,asanapplicationofthetheoryageneralizationofRouth’smotionispresented.

简介：TheLiesymmetriesandtheconservedquantitiesofthesecond-ordernonholonomicmechanicalsystemarestudied.Firstly,byusingtheinvarianceofthedifferentialequationofmotionundertheinfinitesimaltransformations,thedeterminingequationsandtherestrictionequationsoftheLiesymmetriesofthesystemareestablished,andthestructureequationandtheconservativequantitiesoftheLiesymmetriesareobtained.Secondly,theinverseproblemsoftheLiesymmetriesarestudied.Finally,anexampleisgiventoillustratetheapplicationoftheresult.

简介：ThispaperpresentstheMeisymmetriesandnewtypesofnon-Noetherconservedquantitiesforahigher-ordernonholonomicconstraintmechanicalsystem.Onthebasisoftheforminvarianceofdifferentialequationsofmotionfordynamicalfunctionsundergeneralinfinitesimaltransformation,thedeterminingequations,theconstraintrestrictionequationsandtheadditionalrestrictionequationsofMeisymmetriesofthesystemareconstructed.ThecriterionsofMeisymmetries,weakMeisymmetriesandstrongMeisymmetriesofthesystemaregiven.Newtypesofconservedquantities,i.e.theMeisymmetricalconservedquantities,theweakMeisymmetricalconservedquantitiesandthestrongMeisymmetricalconservedquantitiesofahigher-ordernonholonomicsystem,areobtained.Then,adeductionofthefirst-ordernonholonomicsystemisdiscussed.Finally,twoexamplesaregiventoillustratetheapplicationofthemethodandthentheresults.