Feedback Stabilization of a Class of Unstable Nonholonomic Systems

[+] Author and Article Information
Bill Goodwine

Aerospace and Mechanical engineering, University of Notre Dame, Notre Dame, IN 46556

Miloš Žefran

Electrical Engineering and Computer Science, The University of Illinois at Chicago, Chicago, IL 60607

J. Dyn. Sys., Meas., Control 124(1), 221-230 (Oct 11, 2000) (10 pages) doi:10.1115/1.1433479 History: Received October 11, 2000
Copyright © 2002 by ASME
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A linearizing controller applied in (a) rolling (left) and (b) sliding (right)
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Discrete layer in control of the shimmying wheel
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A typical simulation run
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A modified controller guarantees decreasing of V3
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Uncontrolled Memory effect tire
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Controlled memory effect tire




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