Flat Nonholonomic Matching
Zenkov, D. V., A. M. Bloch and J. E. Marsden
Proc ACC, 2812-2817
Abstract:
In this paper we extend the matching technique to a class of
nonholonomic systems with symmetries. Assuming that the momentum
equation defines an integrable distribution, we introduce a family of
reduced systems. The method of controlled Lagrangians is then applied
to these systems resulting in a smooth stabilizing controller.