Hybrid control for the Pendubot

New coordinate independent integrability conditions for second order nonholonomic systems, and hybrid control theorem for feedback stabilization of second order nonholonomic systems have been applied for control of the Pendubot, a test bed for dynamics and control of nonlinear systems. It is a 2-link planar robot with an actuator at the shoulder and no actuator at the elbow. Experimental results show that the hybrid control works very well and very robust.