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• W2149487637 abstract "Nonholonomic constraints characterize robot systems in rolling contact with the environment as well as space manipulators. In this paper, the authors address the issue of stability of nonholonomic systems. In the past, it has been shown (Neimark and Fufaev, 1972) that an equilibrium manifold, rather than an isolated equilibrium point, exists for these systems. It is shown that Lyapunov's second method and La Salle's theorem of invariance can be adapted to study the stability of this manifold. Specifically, the Lyapunov function must be positive definite with respect to the equilibrium manifold and its derivative must vanish identically only thereupon. The example of the rolling vertical disc is used to illustrate the analysis. >" @default.
• W2149487637 created "2016-06-24" @default.
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• W2149487637 date "2002-12-09" @default.
• W2149487637 modified "2023-09-25" @default.
• W2149487637 title "Stability of non-holonomic systems" @default.
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• W2149487637 doi "https://doi.org/10.1109/iros.1991.174673" @default.
• W2149487637 hasPublicationYear "2002" @default.
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