Stability and stabilization of the equilibrium positions of nonholonomic systems
Abstract
The stability and possible stabilization of equilibrium positions of nonholonomic systems are examined. Linear-approximation conditions are considered. The number of roots of the characteristic equation on the imaginary axis in the vicinity of the equilibrium considered is greater than the number of nonintegrable restraints. Sufficient conditions of stability are obtained using the theorems of Liapunov, Malkin, and Kamenkov on stability in singular cases.
- Publication:
-
Prikladnaia Matematika i Mekhanika
- Pub Date:
- April 1988
- Bibcode:
- 1988PriMM..52..194K
- Keywords:
-
- Equilibrium;
- Position (Location);
- Systems Stability;
- Approximation;
- Liapunov Functions;
- Linear Systems;
- Matrices (Mathematics);
- Roots Of Equations;
- Physics (General)