The Lyapunov-Malkin Theorem and Stabilization of the Unicycle with Rider

This paper analyzes stabilization of a nonholonomic system consisting of a unicycle with rider. It is shown that one can achieve stability of slow steady vertical motions by imposing a feedback control force on the rider’s limb

Stabilization of the Unicycle with Rider

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

Matching and Stabilization of Low-dimensional Nonholonomic Systems

In this paper we show how 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