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Matching and stabilization of the unicycle with rider

Zenkov, Dmitry V. and Bloch, Anthony M. and Leonard, Naomi E. and Marsden, Jerrold E. (2000) Matching and stabilization of the unicycle with rider. In: Lagrangian and Hamiltonian methods for nonlinear control. IFAC Workshop Series. Pergamon , Oxford, pp. 177-178. ISBN 0-08-043658-7.

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In this paper we apply matching techniques for controlled Lagrangians to the stabilization problem of a nonholonomic system consisting of a unicycle with rider. We show how generalized matching results may be applied to the Routhian associated with this nonholonomic system.

Item Type:Book Section
Additional Information:© 2000 IFAC. Research partially supported by a University of Michigan Rackham Fellowship. 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 NSF grant BES- 9502477 and ONR grant N00014-98-1-0649.
Funding AgencyGrant Number
University of Michigan Rackham FellowshipUNSPECIFIED
Air Force Office of Scientific Research (AFOSR)F49620-96-1-0100
University of Michigan NSF group infrastructure grantUNSPECIFIED
Office of Naval Research (ONR)N00014-98-1-0649
Subject Keywords:feedback stabilization; Lyapunov methods; nonlinear control
Series Name:IFAC Workshop Series
Record Number:CaltechAUTHORS:20101006-112433128
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:20322
Deposited By: Tony Diaz
Deposited On:19 Nov 2010 19:40
Last Modified:03 Oct 2019 02:08

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