CaltechAUTHORS
Published 1999 | Version Published
Book Section - Chapter Open

Stabilization of the Unicycle with Rider

Creators

  • 1. ROR icon University of Michigan–Ann Arbor

Abstract

In this paper we discuss stabilization of a nonholonomic system consisting of a unicycle with rider. We show in particular that one can achieve stability of slow steady vertical motions by imposing a feedback control force on the rider's limb.

Additional Information

© 1999 IEEE. Research partially supported by NSF grant DMS-9803181, 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 grant DMS-9803181, 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.

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Published - ZeBlMa1999.pdf

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Identifiers

Eprint ID
20531
Resolver ID
CaltechAUTHORS:20101026-093656989

Related works

Describes
http://www.cds.caltech.edu/~marsden/bib/1999/11-ZeBlMa1999/ (URL)

Funding

NSF
DMS-9803181
Air Force Office of Scientific Research (AFOSR)
F49620-96-1-0100
Air Force Office of Scientific Research (AFOSR)
F49620-95-1-0419
University of Michigan Rackham Fellowship

Dates

Created
2010-10-28
Created from EPrint's datestamp field
Updated
2021-11-09
Created from EPrint's last_modified field

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6566837