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
Citation:
Bravo-Doddoli A., García-Naranjo L. C., The Dynamics of an Articulated $n$-trailer Vehicle, Regular and Chaotic Dynamics,
2015, Volume 20, Number 5,
pp. 497-517