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
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;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912033
