Stability theorems for the equilibrium state manifold of nonholonomic systems in a noninertial reference frame (Q5955291)

To investigate the title problem for nonlinear systems, the authors derive Routh equations of relative motion for these systems which is regarded as relative motion of the corresponding holonomic systems. Their relative equilibrium equations and relative equilibrium state manifold are obtained. Then, using the Lyapunov function method, the authors derive stability criteria for relative equilibrium state manifolds of nonlinear nonholonomic systems. One example is given to illustrate the results.