The Lyapunov-Malkin theorem and stabilization of the unicycle with rider

Systems and Control Letters

Volumn 45, Issue 4, 2002, Pages 293-302

  Zenkov, Dmitry V ^a,c   Bloch, Anthony M ^a   Marsden, Jerrold E ^b  

^a UNIVERSITY OF MICHIGAN   (United States)

^b CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

^c NORTH CAROLINA STATE UNIVERSITY   (United States)

Author keywords

Nonholonomic system; Underactuated feedback control

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; EIGENVALUES AND EIGENFUNCTIONS; LYAPUNOV METHODS; NONLINEAR CONTROL SYSTEMS; STABILIZATION;

NONHOLONOMIC SYSTEMS; UNDERACTUATED FEEDBACK CONTROL;

FEEDBACK CONTROL;

EID: 0037023224     PISSN: 01676911     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0167-6911(01)00187-6     Document Type: Article

References (11)

1. Nonholonomic mechanical systems with symmetry
2. Stabilization of mechanical systems using controlled Lagrangians
3. Matching and stabilization by the method of controlled Lagrangians
4. Control and stabilization of nonholonomic dynamic systems
5. On stability of steady state motions of a heavy solid body on an absolutely rough horizontal plane
6. On the stability of motion in a sense of Lyapunov
7. The energy-momentum method for stability of nonholonomic systems
8. Stabilization of the unicycle with rider