Stabilization of the Unicycle with Rider

Zenkov, D. V., A. M. Bloch, and J. E. Marsden

Proc CDC 38, 3470-3471.

Abstract:

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.