The dynamics of an articulated $n$-trailer vehicle
Mathematical Physics
2018-04-26 v1 math.MP
Abstract
We derive the reduced equations of motion for an articulated -trailer vehicle that moves under its own inertia on the plane. We show that the energy level surfaces in the reduced space are -tori and we classify the equilibria within them, determining their stability. A thorough description of the dynamics is given in the case .
Keywords
Cite
@article{arxiv.1508.06564,
title = {The dynamics of an articulated $n$-trailer vehicle},
author = {Alejandro Bravo-Doddoli and Luis C. García-Naranjo},
journal= {arXiv preprint arXiv:1508.06564},
year = {2018}
}
Comments
23 pages, 11 figures