The dynamics of an articulated n-trailer vehicle

DOI10.1134/S1560354715050019MaRDI QIDQ904890zbMATH OpenOpenAlexFDO

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

Publication date 14 January 2016

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

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

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)

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 $n=1$.

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Cites work

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(31)

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• Qualitative analysis of the nonholonomic rolling of a rubber wheel with sharp edges
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• On the Hadamard-Hamel problem and the dynamics of wheeled vehicles
• Qualitative analysis of the dynamics of a wheeled vehicle
• Dynamics of a controlled articulated \(n\)-trailer wheeled vehicle
• A Nonholonomic Model and Complete Controllability of a Three-Link Wheeled Snake Robot
• The multi‐steering N‐trailer system: A case study of goursat normal forms and prolongations
• Exotic dynamics of nonholonomic roller racer with periodic control
• Dynamics of Narrow Tilting Vehicles
• Dynamical behavior of a tractor-semitrailer combination near the boundary of the domain of stability
• scientific article; zbMATH DE number 2061378 (Why is no real title available?)
• Historical and critical review of the development of nonholonomic mechanics: the classical period
• The inertial motion of a \textit{roller racer}
• Qualitative analysis of the dynamics of a trailed wheeled vehicle with periodic excitation
• Lie-Poisson reduction for optimal control of left-invariant control systems with subgroup symmetry
• The car with N Trailers : characterization of the singular configurations
• Geometric optimal filtering for an articulated \(n\)-trailer vehicle with unknown parameters
• Dynamic modeling and tracking control of a car with \(n\) trailers
• Some new remarks about the dynamics of an automobile with two trailers
• Dynamical systems with non-integrable constraints, vakonomic mechanics, sub-Riemannian geometry, and non-holonomic mechanics
• Dynamics of a Chaplygin sleigh with an unbalanced rotor: regular and chaotic motions
• scientific article; zbMATH DE number 5258038 (Why is no real title available?)
• Invariant Submanifolds of Genus 5 and a Cantor Staircase in the Nonholonomic Model of a Snakeboard
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• The problem of acceleration in the dynamics of a double-link wheeled vehicle with arbitrarily directed periodic excitation
• Lining-up stabilizers for pusher and puller articulated vehicles
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