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• W2107233086 abstract "This paper is concerned with the theory of quasivelocities and its applications to control. The equations of motion of a mechanical system are derived using the Lagrange-d'Alembert principle written in an arbitrary configuration-dependent frame. The structure of the equations of motion written in quasivelocities is utilized in the design of a nonlinear feedback stabilizing controller for an example of a nonholonomically constrained underactuated system." @default.
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• W2107233086 date "2009-12-01" @default.
• W2107233086 modified "2023-10-02" @default.
• W2107233086 title "Quasivelocities and stabilization of relative equilibria of underactuated nonholonomic systems" @default.
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• W2107233086 doi "https://doi.org/10.1109/cdc.2009.5399479" @default.
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