Stability of non-holonomic systems


Non-holonomic constraints characterize robot Aystems in rolling contact with the environment as well as space manipulators. In this paper, we address the issue of stability of non-holonomic systems. In the past, it has been shown [Neimark and Firfaev, 19721 that an equilibrium manifold, rather than an isolated equilibrium point, exists for these systems. We… (More)
DOI: 10.1109/IROS.1991.174673


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