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Stabilization of the Unicycle with Rider

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

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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:
URLURL TypeDescription
http://dx.doi.org/10.1109/CDC.1999.827861DOIUNSPECIFIED
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=827861PublisherUNSPECIFIED
http://www.cds.caltech.edu/~marsden/bib/1999/11-ZeBlMa1999/AuthorUNSPECIFIED
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:
Funding AgencyGrant Number
NSFDMS-9803181
Air Force Office of Scientific Research (AFOSR)F49620-96-1-0100
Air Force Office of Scientific Research (AFOSR)F49620-95-1-0419
University of Michigan Rackham FellowshipUNSPECIFIED
Other Numbering System:
Other Numbering System NameOther Numbering System ID
INSPEC Accession Number6566837
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

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