Quasivelocities and stabilization of relative equilibria of underactuated nonholonomic systems

Abstract-- This paper is concerned with the theory of quasivelocities and its applications to control. The equations of motion of a mechanical system are derived using the Lagrange

• Type: Journal
• Year: 2009
• Where: CDC
• Authors: Anthony M. Bloch, Jerrold E. Marsden, Dmitry V. Zenkov
• Keywords: Arbitrary Configurationdependent Frame, CDC 2009, Control Systems, D'Alembert Principle, Mechanical System