This work develops the geometry and dynamics of mechanical systems with nonholonomic
constraints and symmetry from the perspective of Lagrangian mechanics and with a view to …

In this paper, a literature review on two-wheeled vehicle systems is methodically performed
and presented. For this purpose, the principal aspects concerning the kinematic, dynamic …

Provides a summary of recent developments in control of nonholonomic systems. The
published literature has grown enormously during the last six years, and it is now possible to …

In this paper, the dynamics of bicycles is analyzed from the perspective of control. Models of
different complexity are presented, starting with simple ones and ending with more realistic …

The development of bicycles and motorcycles since the first patented running machine, or
draisine, in 1817 is described. Bicycle modeling and control were also discussed. These …

The control of nonholonomic and underactuated systems with symmetry is illustrated by the
problem of controlling a bicycle. We derive a controller which, using steering and rear-wheel …

In this paper, the dynamics of bicycles is analyzed from the perspective of control. Models of
different complexity are presented, starting with simple ones and ending with more realistic …

This paper compares the Hamiltonian approach to systems with nonholonomic constraints
(see [31, 2, 4, 29] and references therein) with the Lagrangian approach (see [16, 27, 9]) …

This dissertation introduces the notion of a dynamic inverse of a nonlinear map. The
dynamic inverse is used in the construction of nonlinear dynamical system, called a dynamic …

We have developed a single wheel, gyroscopically stabilized robot. This is a novel concept
for a mobile robot that provides dynamic stability for rapid locomotion. The robot is a sharp …