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

DOI10.1016/S0167-6911(01)00187-6zbMath0994.93046OpenAlexW2116585448WikidataQ55968705 ScholiaQ55968705MaRDI QIDQ1605360

Anthony M. Bloch, Dmitry V. Zenkov, Jerrold E. Marsden

Publication date: 15 July 2002

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0167-6911(01)00187-6

zbMATH Keywords

stabilizationnonholonomic systemunderactuated feedback control

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Control of mechanical systems (70Q05) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Related Items (6)

Nonholonomic mechanical systems and stabilization of motion ⋮ On a three-dimensional and two four-dimensional oncolytic viro-therapy models ⋮ The dynamics of a Chaplygin sleigh with an elastic internal rotor ⋮ Symmetries in the wheeled inverted pendulum mechanism ⋮ An observer-controller combination for a unicycle mobile robot ⋮ Qualitative analysis of the nonholonomic rolling of a rubber wheel with sharp edges

Cites Work

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• On permanent rotations of a heavy solid body on an absolutely rough horizontal plane
• Nonholonomic mechanical systems with symmetry
• Lectures on Mechanics
• Control and stabilization of nonholonomic dynamic systems
• The energy-momentum method for the stability of non-holonomic systems

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