Published April 5, 2002
| Updated
Journal Article
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The Lyapunov-Malkin Theorem and Stabilization of the Unicycle with Rider
Chicago
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Abstract
This paper analyzes stabilization of a nonholonomic system consisting of a unicycle with rider. It is shown that one can achieve stability of slow steady vertical motions by imposing a feedback control force on the rider's limb.
Additional Information
© 2001 Elsevier Science B.V. All rights reserved. Research partially supported by NSF Grants DMS-9803181 and DMS-0103895, 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 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. Systems & Control Letters Volume 45, Issue 4, 5 April 2002, Pages 293-302Attached Files
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Additional details
- Eprint ID
- 20025
- Resolver ID
- CaltechAUTHORS:20100917-151701120
- NSF
- DMS-9803181
- NSF
- DMS-0103895
- Air Force Office of Scientific Research (AFOSR)
- F49620-96-1-0100
- University of Michigan Rackham Fellowship
- Air Force Office of Scientific Research (AFOSR)
- F49620-95-1-0419
- Created
-
2010-09-17Created from EPrint's datestamp field
- Updated
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2021-11-08Created from EPrint's last_modified field