Zenkov, Dmitry V. and Bloch, Anthony M. and Marsden, Jerrold E. (2002) The Lyapunov-Malkin Theorem and Stabilization of the Unicycle with Rider. Systems and Control Letters, 45 (4). pp. 293-302. ISSN 0167-6911 http://resolver.caltech.edu/CaltechAUTHORS:20100917-151701120
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Abstract
This paper analyzes stabilization of a nonholonomic system consisting of a unicycle with rider. It is shown that one can achieve stability of slow steady vertical motions by imposing a feedback control force on the rider’s limb.
| Item Type: | Article | ||||||||||||
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| Additional Information: | © 2001 Elsevier Science B.V. All rights reserved. Research partially supported by NSF Grants DMS-9803181 and DMS-0103895, AFOSR Grant F49620-96-1-0100, a University of Michigan Rackham Fellowship, and an NSF group infrastructure grant at the University of Michigan. Research partially supported by NSF Grants DMS-9803181 and DMS-0103895, AFOSR Grant F49620-96-1-0100, and an NSF group infrastructure grant at the University of Michigan. Research partially supported by AFOSR grant F49620-95-1-0419. Systems & Control Letters Volume 45, Issue 4, 5 April 2002, Pages 293-302 | ||||||||||||
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| Subject Keywords: | Nonholonomic system, underactuated feedback control | ||||||||||||
| Record Number: | CaltechAUTHORS:20100917-151701120 | ||||||||||||
| Persistent URL: | http://resolver.caltech.edu/CaltechAUTHORS:20100917-151701120 | ||||||||||||
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| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||||||||
| ID Code: | 20025 | ||||||||||||
| Collection: | CaltechAUTHORS | ||||||||||||
| Deposited By: | Ruth Sustaita | ||||||||||||
| Deposited On: | 17 Sep 2010 23:13 | ||||||||||||
| Last Modified: | 26 Dec 2012 12:26 |
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