Matching and stabilization of low-dimensional nonholonomic systems

D. V. Zenkov; N. E. Leonard; A. M. Bloch; J. E. Marsden

Matching and stabilization of low-dimensional nonholonomic systems

D. V. Zenkov
, N. E. Leonard
, A. M. Bloch
, J. E. Marsden

Research output: Contribution to journal › Conference article › peer-review

Abstract

In this paper 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.

Original language	English (US)
Pages (from-to)	1289-1294
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	2
State	Published - 2000
Event	39th IEEE Confernce on Decision and Control - Sydney, NSW, Australia Duration: Dec 12 2000 → Dec 15 2000

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Cite this

@article{939c0ca9b06c4c7ea8d3e254d9a36557,

title = "Matching and stabilization of low-dimensional nonholonomic systems",

abstract = "In this paper 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.",

author = "Zenkov, \{D. V.\} and Leonard, \{N. E.\} and Bloch, \{A. M.\} and Marsden, \{J. E.\}",

year = "2000",

language = "English (US)",

volume = "2",

pages = "1289--1294",

journal = "Proceedings of the IEEE Conference on Decision and Control",

issn = "0191-2216",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "39th IEEE Confernce on Decision and Control ; Conference date: 12-12-2000 Through 15-12-2000",

}

TY - JOUR

T1 - Matching and stabilization of low-dimensional nonholonomic systems

AU - Zenkov, D. V.

AU - Leonard, N. E.

AU - Bloch, A. M.

AU - Marsden, J. E.

PY - 2000

Y1 - 2000

N2 - In this paper 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.

AB - In this paper 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.

UR - https://www.scopus.com/pages/publications/0034439181

UR - https://www.scopus.com/pages/publications/0034439181#tab=citedBy

M3 - Conference article

AN - SCOPUS:0034439181

SN - 0191-2216

VL - 2

SP - 1289

EP - 1294

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - 39th IEEE Confernce on Decision and Control

Y2 - 12 December 2000 through 15 December 2000

ER -

Matching and stabilization of low-dimensional nonholonomic systems

Abstract

All Science Journal Classification (ASJC) codes

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