Stabilization of the Unicycle with Rider
Zenkov, D. V., A. M. Bloch, and J. E. Marsden
Proc CDC 38, 3470-3471.
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.