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

被引：20

作者：

Zenkov, DV

Bloch, AM

Marsden, JE

机构：

[1] Univ Michigan, Dept Math, Ann Arbor, MI 48109 USA

[2] CALTECH, Pasadena, CA 91125 USA

来源：

SYSTEMS & CONTROL LETTERS | 2002年 / 45卷 / 04期

关键词：

nonholonomic system; underactuated feedback control;

D O I：

10.1016/S0167-6911(01)00187-6

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper analyzes stabilization of a nonholonomic system consisting of a unicycle with rider. It is shown that one can achieve stability of slow steady vertical motions by imposing a feedback control force on the rider's limb. (C) 2001 Elsevier Science B.V. All rights reserved.

引用

页码：293 / 302

页数：10

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