CaltechAUTHORS
Published 2000 | Version Published
Book Section - Chapter Open

Matching and stabilization of the unicycle with rider

Creators

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

Files

ZeBlLeMa2000.pdf

Files (63.5 kB)

Name Size
md5:e36640ca7b6bc8c3fd8718e864e2a38d
63.5 kB Preview Download

Additional details

Identifiers

Eprint ID
20322
Resolver ID
CaltechAUTHORS:20101006-112433128

Funding

University of Michigan Rackham Fellowship
NSF
DMS-9803181
Air Force Office of Scientific Research (AFOSR)
F49620-96-1-0100
University of Michigan NSF group infrastructure grant
NSF
BES-9502477
Office of Naval Research (ONR)
N00014-98-1-0649

Dates

Created
2010-11-19
Created from EPrint's datestamp field
Updated
2019-10-03
Created from EPrint's last_modified field

Caltech Custom Metadata

Series Name
IFAC Workshop Series