β

∈β

1991

978-1-4244-1734-6/08/$25.00 c© 2008 IEEE

β=

−= βα ∈

−∈α α

∈β

β

ββ α

α β α

∇ → × −

=∇ =

= − ∈ −

β

α −∇

∈β

α α β

−

−

∇ × − →

∇ = + =

=θ

αα −∇−∇=

ααα

ξ

ξ α α α α

α−

=

=

= ∇ ∇

ααα

ωωωω =

=

=ω

ωξωξ α α α α

α ω−

=

=

= ∇ ∇

×= α

α

∈ −∈α

=∇− α

=∇+∇ −− αα

×= α

∈∀

α

α α

−

− −

∇ =

∇ + ∇ −

−−= ααα

⇔ββββ =

+−=∇− ββα

∈∀

==∇−∇ −− αα

−=

=

≠∧∈=

α

α α

α α

α α

− −

− −

− −

= ∇ +∇ −

= ∇ −∇ +

= ∇ −∇ +

1992 2008 Chinese Control and Decision Conference (CCDC 2008)

α α

α α

α α

− −

− −

− −

= ∇ +∇ − +

= ∇ −∇ + −

= ∇ −∇ + −

==

−− ∈∃∧≠∈=

α

−

−

−

−

= ∈ ∈

= ∈ ∈

= ∈ ∈

∇ =

=

φ

φ φ φ

φ

α−

= = =

= = =

= = =

∇ = =

α α

α α

− −

− −

∇ = ∇ =

∇ = ∇ =

α−∇ = =

φ=

=−

−

α−

= ∧ ≠= ∇ ∇

[ ]= −

ω ω ω ω ω= =

2008 Chinese Control and Decision Conference (CCDC 2008) 1993

1994 2008 Chinese Control and Decision Conference (CCDC 2008)