The dynamics of an articulated n-trailer vehicle

DOI10.1134/S1560354715050019zbMATH Open1342.37064arXiv1508.06564OpenAlexW1913782103MaRDI QIDQ904890FDOQ904890

Authors: Alejandro Bravo-Doddoli, Luis C. García-Naranjo 

Publication date: 14 January 2016

Published in: Regular and Chaotic Dynamics (Search for Journal in Brave)

Abstract: We derive the reduced equations of motion for an articulated $n$-trailer vehicle that moves under its own inertia on the plane. We show that the energy level surfaces in the reduced space are $(n+1)$-tori and we classify the equilibria within them, determining their stability. A thorough description of the dynamics is given in the case $n=1$.

Full work available at URL: https://arxiv.org/abs/1508.06564

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zbMATH Keywords

dynamicsnonholonomic constraints\(n\)-trailer vehicle

Mathematics Subject Classification ID

Simulation of dynamical systems (37M05) Vector distributions (subbundles of the tangent bundles) (58A30) Nonholonomic systems related to the dynamics of a system of particles (70F25) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Nonholonomic dynamical systems (37J60)

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Cited In (31)

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