Stabilization of the Unicycle with Rider
نویسندگان
چکیده
In this paper we discuss 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.
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Research partially supported by NSF grants DMS-9803181 and DMS-0103895, AFOSR grant F49620-96-1-0100, a University of Michigan Rackham Fellowship, and an NSF group infrastructure grant at the University of Michigan Research partially supported by NSF grants DMS-9803181 and DMS-0103895, AFOSR grant F49620-96-1-0100, and an NSF group infrastructure grant at the University of Michigan Research par...
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