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

摘要

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. (C) 2001 Elsevier Science B.V. All rights reserved. [References: 11]