non-terminal
1.During the study, we find that just to dispose one isolated image, ignore the whole process, it is impossible to distinguish the terminal images from non-terminal images in the process.
4.highly non-linear and high system of coupling. The technical of ISM ( Terminal Sliding Mode) is applied to make the control of path following. The result of the simulation which use TSM shows that we can control the trailers form the initial configuration to desired track Within regular hour .
5.According to time of operation, the buses are divided as follows: numbers that start with "2" are morning and evening rush hour buses, numbers that start with 3 are night buses; according to location, buses are divided as follows: Puxi buses, Pudong buses, buses that cross the river including tunnel and bridge lines, and suburban area buses [700s &900s]; according to payment method, the buses are divided into: single-ticket RMB 1 (lines of 13 kilometer or less from end to end) and RMB 1.5 (lines of 13 kilometers or more from end to end) ticket-sellerless buses (most two digit city buses and three digits buses starting with "1", "2", "7" are of this kind; no change will be made, but terminal stations and hubs will have RMB 1 and RMB 1.5 ticket booklets for sale, 50 non-refundable tickets per booklet), and also single ticket RMB 2 air-conditioned buses and scaled-price ticket special lines (including specialty coach lines starting with "5", Pudong specialty lines starting with "6", mid-size coaches that start with "8", double-decker buses and air-conditioned coaches that start with "9", as well as the ten air-conditioned tourism lines [and airport buses]).
按运营时间分，有：日间公交车、“2”字头的早晚高峰车和“3”字头的夜宵车；按地域范围分，有浦西的、浦东的、过江的（含大桥、隧道线）和郊区线；按票务方式分，有单一票价1元（全程13公里以下的线路）或1.5元（全程超13公里的线路）的无人售票车（市内公交号码为两位数的或三位数中“1”字头、“2”字头、“7”字头的线路绝大多数是无人售票车，自备零钱，不找零，公交终点站、各主要交通枢纽均有1元和1元5角两种面值的公交预售票出售，每本50张，售出不退),还有单一票价2元的空调车和多级票价的专线车（有“5”字头的大巴专线、“6”字头的浦东专线车、“8”字头的中巴专线和“9”字头的双层车或空调大巴，还有十条空调旅游专线）。收藏指正
