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. https://resolver.caltech.edu/CaltechAUTHORS:20101006-112433128
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Abstract
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 | ||||||||||||||
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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. | ||||||||||||||
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Subject Keywords: | feedback stabilization; Lyapunov methods; nonlinear control | ||||||||||||||
Series Name: | IFAC Workshop Series | ||||||||||||||
Record Number: | CaltechAUTHORS:20101006-112433128 | ||||||||||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20101006-112433128 | ||||||||||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||||||||||
ID Code: | 20322 | ||||||||||||||
Collection: | CaltechAUTHORS | ||||||||||||||
Deposited By: | Tony Diaz | ||||||||||||||
Deposited On: | 19 Nov 2010 19:40 | ||||||||||||||
Last Modified: | 03 Oct 2019 02:08 |
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