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.
Item Type: | Book Section | ||||||||||||||
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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 | ||||||||||||||
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Series Name: | Proceedings of the American Control Conference | ||||||||||||||
Record Number: | CaltechAUTHORS:20101026-105937515 | ||||||||||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20101026-105937515 | ||||||||||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||||||||||
ID Code: | 20536 | ||||||||||||||
Collection: | CaltechAUTHORS | ||||||||||||||
Deposited By: | Ruth Sustaita | ||||||||||||||
Deposited On: | 28 Oct 2010 22:29 | ||||||||||||||
Last Modified: | 03 Oct 2019 02:11 |
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