Circuito Exterior S/N, Ciudad Universitaria, Mexico City, 04510, Mexico
Depto. de Matemáticas, Facultad de Ciencias, UNAM
Bravo-Doddoli A., García-Naranjo L.
The Dynamics of an Articulated $n$-trailer Vehicle
2015, vol. 20, no. 5, pp. 497-517
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 $n = 1$.