scientific article; zbMATH DE number 7650716
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Publication date: 7 February 2023
Full work available at URL: http://online.watsci.org/abstract_pdf/2022v29/v29n5b-pdf/1.pdf
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Lagrange multipliersnonlinear controlgeometric constraintsNewton-Euler equationsMoore-Penrose generalized inversekinematic modelstate space formgeneralized constraint forcesd'Alembert principledifferential gear-boxgeneralized applied forcesfront wheel steering mechanismindependent and not independent velocity constraintsnonholonomic and holonomic velocity constraintsrear-wheel-drive vehiclereduced dynamic modelvelocity constraints matrix
Control of mechanical systems (70Q05) Dynamics of a rigid body and of multibody systems (70Exx) Model systems in control theory (93Cxx) Controllability, observability, and system structure (93Bxx)
Uses Software
Cites Work
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