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Published 2000 | Published
Book Section - Chapter Open

Matching and Stabilization of Low-dimensional Nonholonomic Systems

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.

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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