Published November 7, 2002
| Published
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Flat Nonholonomic Matching
Chicago
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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.
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 F49620-95-1-0419Attached Files
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Additional details
- Eprint ID
- 20536
- Resolver ID
- CaltechAUTHORS:20101026-105937515
- University of Michigan Rackham Fellowship
- NSF group infrastructure grant
- NSF
- DMS-9803181
- NSF
- DMS-0103895
- Air Force Office of Scientific Research (AFOSR)
- F49620-96-1-0100
- Air Force Office of Scientific Researc (AFOSR)
- F49620-95-1-0419
- Created
-
2010-10-28Created from EPrint's datestamp field
- Updated
-
2021-11-09Created from EPrint's last_modified field
- Series Name
- Proceedings of the American Control Conference
- Other Numbering System Name
- INSPEC Accession Number
- Other Numbering System Identifier
- 7426170