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. https://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.
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| 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 | |||||||||
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| DOI: | 10.1109/CDC.2000.912033 | |||||||||
| Record Number: | CaltechAUTHORS:20101026-084050990 | |||||||||
| Persistent URL: | https://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: | 09 Nov 2021 00:00 |
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