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. https://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:

URL	URL Type	Description
http://dx.doi.org/10.1016/S0167-6911(01)00187-6	DOI	UNSPECIFIED

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 Agency	Grant Number
NSF	DMS-9803181
NSF	DMS-0103895
Air Force Office of Scientific Research (AFOSR)	F49620-96-1-0100
University of Michigan Rackham Fellowship	UNSPECIFIED
Air Force Office of Scientific Research (AFOSR)	F49620-95-1-0419

Subject Keywords:

Nonholonomic system, underactuated feedback control

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CaltechAUTHORS:20100917-151701120

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https://resolver.caltech.edu/CaltechAUTHORS:20100917-151701120

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No commercial reproduction, distribution, display or performance rights in this work are provided.

ID Code:

20025

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CaltechAUTHORS

Deposited By:

Ruth Sustaita

Deposited On:

17 Sep 2010 23:13

Last Modified:

03 Oct 2019 02:04

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