非零速度点处仿射连接控制系统的可达性刻画
Characterization of accessibility for affine connection control systems at some points with nonzero velocity
AI总结：
针对仿射连接控制系统，本文在非零速度点处推广了可达性代数的描述，前提是仿射连接限制在对称闭包给出的分布上，并应用于不同机械控制系统。
摘要：
仿射连接控制系统是机械控制系统，可模拟多种实际系统，如机器人腿、气垫船、平面刚体、滚动硬币、蛇板等。1997年，A. D. Lewis和R. Murray在零速度点处内在描述了可达性和一种特定的可控性概念。本文在非零速度点处，只要仿射连接限制在对称闭包给出的分布上，就提出了一种新的可达性代数描述的推广。结果用于描述不同机械控制系统的可达性代数。
英文摘要：
Affine connection control systems are mechanical control systems that model a wide range of real systems such as robotic legs, hovercrafts, planar rigid bodies, rolling pennies, snakeboards and so on. In 1997 the accessibility and a particular notion of controllability was intrinsically described by A. D. Lewis and R. Murray at points of zero velocity. Here, we present a novel generalization of the description of accessibility algebra for those systems at some points with nonzero velocity as long as the affine connection restricts to the distribution given by the symmetric closure. The results are used to describe the accessibility algebra of different mechanical control systems.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
