Modelling the motion of a trolley-like car
In this work, two simple dynamical models are derived for the motion of a three-wheeled car. In the models derived here, the motion of the car is controlled by four torques, three pedalling torques, acting on each of the wheels, and a steering torque acting on the front wheel. (C) 2004 Elsevier Ltd. All rights reserved.
dynamical models three-wheeled car nonholonomic constraints nonlinear systems steerable front wheel