The Lyapunov-Malkin Theorem and Stabilization of the Unicycle with Rider

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

Systems and Control Lett. 46, 293-300.

Abstract:

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.