Zenkov, Dmitry V. and Bloch, Anthony M. and Marsden, Jerrold E. (1999) Stabilization of the Unicycle with Rider. In: Proceedings of the 38th IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 3470-3471. ISBN 0-7803-5250-5. https://resolver.caltech.edu/CaltechAUTHORS:20101026-093656989
![]()
|
PDF
- Published Version
See Usage Policy. 75kB |
Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20101026-093656989
Abstract
In this paper we discuss stabilization of a nonholonomic system consisting of a unicycle with rider. We show in particular that one can achieve stability of slow steady vertical motions by imposing a feedback control force on the rider’s limb.
Item Type: | Book Section | ||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Related URLs: |
| ||||||||||||
Additional Information: | © 1999 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. | ||||||||||||
Funders: |
| ||||||||||||
Other Numbering System: |
| ||||||||||||
DOI: | 10.1109/CDC.1999.827861 | ||||||||||||
Record Number: | CaltechAUTHORS:20101026-093656989 | ||||||||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20101026-093656989 | ||||||||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||||||||
ID Code: | 20531 | ||||||||||||
Collection: | CaltechAUTHORS | ||||||||||||
Deposited By: | Ruth Sustaita | ||||||||||||
Deposited On: | 28 Oct 2010 20:48 | ||||||||||||
Last Modified: | 09 Nov 2021 00:00 |
Repository Staff Only: item control page