Flat Nonholonomic Matching

Zenkov, Dmitry V. and Bloch, Anthony M. and Marsden, Jerrold E. (2002) Flat Nonholonomic Matching. In: Proceedings of the 2002 American Control Conference. Proceedings of the American Control Conference. IEEE , Piscataway, NJ, pp. 2812-2817. ISBN 0-7803-7298-0. https://resolver.caltech.edu/CaltechAUTHORS:20101026-105937515

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Abstract

In this paper we extend the matching technique to a class of nonholonomic systems with symmetries. Assuming that the momentum equation defines an integrable distribution, we introduce a family of reduced systems. The method of controlled Lagrangians is then applied to these systems resulting in a smooth stabilizing controller.

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Book Section

Related URLs:

URL	URL Type	Description
http://dx.doi.org/10.1109/ACC.2002.1025215	DOI	UNSPECIFIED
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1025215	Publisher	UNSPECIFIED
http://www.cds.caltech.edu/~marsden/bib/2002/10-ZeBlMa2002/	Author	UNSPECIFIED

Additional Information:

© 2002 AACC. Research partially supported by a University of Michigan Rackham Fellowship and an NSF group infrastructure grant at the University of Michigan. Research partially supported by NSF grants DMS-9803181 and DMS-0103895, 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 Agency	Grant Number
University of Michigan Rackham Fellowship	UNSPECIFIED
NSF group infrastructure grant	UNSPECIFIED
NSF	DMS-9803181
NSF	DMS-0103895
Air Force Office of Scientific Research (AFOSR)	F49620-96-1-0100
Air Force Office of Scientific Researc (AFOSR)	F49620-95-1-0419

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INSPEC Accession Number	7426170

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Proceedings of the American Control Conference

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CaltechAUTHORS:20101026-105937515

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https://resolver.caltech.edu/CaltechAUTHORS:20101026-105937515

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20536

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CaltechAUTHORS

Deposited By:

Ruth Sustaita

Deposited On:

28 Oct 2010 22:29

Last Modified:

03 Oct 2019 02:11

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