• DocumentCode
    1743491
  • Title

    Matching and stabilization of low-dimensional nonholonomic systems

  • Author

    Zenkov, Dmitry V. ; Bloch, Anthony M. ; Leonard, Naomi E. ; Marsden, Jerrold E.

  • Author_Institution
    Dept. of Math., Michigan Univ., Ann Arbor, MI, USA
  • Volume
    2
  • fYear
    2000
  • fDate
    2000
  • Firstpage
    1289
  • Abstract
    We show how a generalized matching technique for stabilization may be applied to the Routhian associated with a low-dimensional nonholonomic system. The theory is illustrated with a simple model-a unicycle with rider
  • Keywords
    feedback; nonlinear control systems; partial differential equations; pendulums; stability; symmetry; Routhian; generalized matching technique; low-dimensional nonholonomic systems; stabilization; unicycle; Aerospace engineering; Control systems; Force control; Lagrangian functions; Mathematics; Motion control; Nonlinear equations; Shape control; Stability; Steady-state;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
  • Conference_Location
    Sydney, NSW
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-6638-7
  • Type

    conf

  • DOI
    10.1109/CDC.2000.912033
  • Filename
    912033
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1743491