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Matching and Stabilization of Low-dimensional Nonholonomic Systems

Zenkov, Dmitry V. and Bloch, Anthony M. and Leonard, Naomi E. and Marsden, Jerrold E. (2000) Matching and Stabilization of Low-dimensional Nonholonomic Systems. In: Proceedings of the 39th IEEE Conference on Decision and Control, 2000. Vol.2. IEEE , pp. 1289-1294. ISBN 0-7803-6638-7 http://resolver.caltech.edu/CaltechAUTHORS:20101026-084050990

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Abstract

In this paper we show how generalized matching technique for stabilization may be applied to the Routhian associated with a low-dimensional nonholonomic system. The theory is illustrated with a simple model—a unicycle with rider.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/CDC.2000.912033 DOIUNSPECIFIED
http://www.cds.caltech.edu/~marsden/bib/2000/24-ZeBlLeMa2000/AuthorUNSPECIFIED
Additional Information:© 2000, IEEE. Research partially supported by NSF grant DMS-9803181, 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 grant DMS-9803181, 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
Funders:
Funding AgencyGrant Number
NSFDMS-9803181
AFOSRF49620-96-1-0100
AFOSRF49620-95-1-0419
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INSPEC Accession Number6950493
Record Number:CaltechAUTHORS:20101026-084050990
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20101026-084050990
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:20524
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:01 Dec 2010 22:44
Last Modified:26 Dec 2012 12:33

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