Wheeled vehicle skidding at $\mu$-split

The dynamics of a biaxial four-wheeled vehicle is simulated when drive wheels of one of its axes get into the "$\mu$-split surface". The "$\mu$-split surface" is a section of the reference plane with different friction coefficients for the left and right wheels of one of the vehicle axes. Depending on the conditions of vehicle motion, the interaction of its wheels with the reference plane is described by the slip model or the Coulomb dry friction model. Using the methods of fractional analysis and the theory of singular perturbations, we estimated the angular velocity impulse, which is obtained by the vehicle body after the completion of the aligning transient process of the contact forces on the wheels of the drive axis.