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.