Regular and Chaotic Dynamics

, Volume 20, Issue 6, pp 739–751 | Cite as

Qualitative analysis of the dynamics of a wheeled vehicle

  • Alexey V. Borisov
  • Ivan S. Mamaev
  • Alexander A. Kilin
  • Ivan A. Bizyaev


This paper is concerned with the problem of the motion of a wheeled vehicle on a plane in the case where one of the wheel pairs is fixed. In addition, the motion of a wheeled vehicle on a plane in the case of two free wheel pairs is considered. A method for obtaining equations of motion for the vehicle with an arbitrary geometry is presented. Possible kinds of motion of the vehicle with a fixed wheel pair are determined.


nonholonomic constraint system dynamics wheeled vehicle Chaplygin system 

MSC2010 numbers

70F25 37J60 


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Copyright information

© Pleiades Publishing, Ltd. 2015

Authors and Affiliations

  • Alexey V. Borisov
    • 1
  • Ivan S. Mamaev
    • 1
  • Alexander A. Kilin
    • 1
  • Ivan A. Bizyaev
    • 1
  1. 1.Steklov Mathematical InstituteRussian Academy of SciencesMoscowRussia

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