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The Lyapunov-Malkin Theorem and Stabilization of the Unicycle with Rider

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
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1016/S0167-6911(01)00187-6 DOIUNSPECIFIED
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
Funders:
Funding AgencyGrant Number
NSFDMS-9803181
NSFDMS-0103895
Air Force Office of Scientific Research (AFOSR)F49620-96-1-0100
University of Michigan Rackham FellowshipUNSPECIFIED
Air Force Office of Scientific Research (AFOSR)F49620-95-1-0419
Subject Keywords:Nonholonomic system, underactuated feedback control
Record Number:CaltechAUTHORS:20100917-151701120
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20100917-151701120
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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