Published 2000
| Published
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Matching and stabilization of the unicycle with rider
Abstract
In this paper we apply matching techniques for controlled Lagrangians to the stabilization problem of a nonholonomic system consisting of a unicycle with rider. We show how generalized matching results may be applied to the Routhian associated with this nonholonomic system.
Additional Information
© 2000 IFAC. Research partially supported by a University of Michigan Rackham Fellowship. 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 NSF grant BES- 9502477 and ONR grant N00014-98-1-0649.Attached Files
Published - ZeBlLeMa2000.pdf
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Additional details
- Eprint ID
- 20322
- Resolver ID
- CaltechAUTHORS:20101006-112433128
- University of Michigan Rackham Fellowship
- DMS-9803181
- NSF
- F49620-96-1-0100
- Air Force Office of Scientific Research (AFOSR)
- University of Michigan NSF group infrastructure grant
- BES-9502477
- NSF
- N00014-98-1-0649
- Office of Naval Research (ONR)
- Created
-
2010-11-19Created from EPrint's datestamp field
- Updated
-
2019-10-03Created from EPrint's last_modified field
- Series Name
- IFAC Workshop Series