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Published 1999 | Published
Book Section - Chapter Open

Stabilization of the Unicycle with Rider

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.

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.

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