The Controllability of Nonlinear Control System and Its Application to Dynamics of Rigid Body
非线性控制系统的能控性及在刚体动力学中的应用

Based on the oriented manifold method of 4],the authors of this paper study the problem of controllability of nonlinear control system by invariant manifold method. Since the construction of invariant manifold is not too difficult, the authors illustrate the efficiency of the controllability theorem about an affine nonlinear system.