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Flat Nonholonomic Matching

Zenkov, Dmitry V. and Bloch, Anthony M. and Marsden, Jerrold E. (2002) Flat Nonholonomic Matching. In: Proceedings of the 2002 American Control Conference. Proceedings of the American Control Conference . IEEE , Piscataway, NJ, pp. 2812-2817. ISBN 0-7803-7298-0 http://resolver.caltech.edu/CaltechAUTHORS:20101026-105937515

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Abstract

In this paper we extend the matching technique to a class of nonholonomic systems with symmetries. Assuming that the momentum equation defines an integrable distribution, we introduce a family of reduced systems. The method of controlled Lagrangians is then applied to these systems resulting in a smooth stabilizing controller.


Item Type:Book Section
Additional Information:© 2002 AACC. Research partially supported by 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
Funders:
Funding AgencyGrant Number
University of Michigan Rackham FellowshipUNSPECIFIED
NSF group infrastructure grantUNSPECIFIED
NSFDMS-9803181
NSFDMS-0103895
Air Force Office of Scientific Research (AFOSR)F49620-96-1-0100
Air Force Office of Scientific Researc (AFOSR)F49620-95-1-0419
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INSPEC Accession Number 7426170
Record Number:CaltechAUTHORS:20101026-105937515
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20101026-105937515
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ID Code:20536
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:28 Oct 2010 22:29
Last Modified:26 Dec 2012 12:33

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