Title :
Stabilization of the unicycle with rider
Author :
Zenkov, Dmitry V. ; Bloch, Anthony M. ; Marsden, Jerrold E.
Author_Institution :
Dept. of Math., Michigan Univ., Ann Arbor, MI, USA
fDate :
6/21/1905 12:00:00 AM
Abstract :
In this paper we discuss the 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
Keywords :
Lyapunov methods; feedback; mobile robots; motion control; nonlinear control systems; stability; Lyapunov Malkin theorem; feedback; mobile robots; motion control; nonholonomic system; nonlinear control systems; stability; stabilization; unicycle; Control systems; Equations; Feedback control; Force control; Force feedback; Mathematics; Motion control; Stability analysis; Steady-state; Wheels;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.827861
