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This article is cited in 28 scientific papers (total in 28 papers)
The Dynamics of an Articulated $n$-trailer Vehicle
Alejandro Bravo-Doddolia, Luis C. García-Naranjob a Depto. de Matemáticas, Facultad de Ciencias, UNAM,
Circuito Exterior S/N, Ciudad Universitaria, Mexico City, 04510, Mexico
b Departamento de Matemáticas y Mecánica, IIMAS-UNAM
Apdo Postal 20-726, Mexico City, 01000, Mexico
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 $n=1$.
Keywords:
dynamics, nonholonomic constraints, $n$-trailer vehicle.
Received: 21.08.2015 Accepted: 08.09.2015
Citation:
Alejandro Bravo-Doddoli, Luis C. García-Naranjo, “The Dynamics of an Articulated $n$-trailer Vehicle”, Regul. Chaotic Dyn., 20:5 (2015), 497–517
Linking options:
https://www.mathnet.ru/eng/rcd18 https://www.mathnet.ru/eng/rcd/v20/i5/p497
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Abstract page: | 675 | References: | 58 |
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