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Matching and stabilization of the unicycle with rider

By Dmitry V. Zenkov

Abstract

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.

Year: 2000
OAI identifier: oai:CiteSeerX.psu:10.1.1.135.8295
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