Abstract
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.
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Bravo-Doddoli, A., García-Naranjo, L.C. The dynamics of an articulated n-trailer vehicle. Regul. Chaot. Dyn. 20, 497–517 (2015). https://doi.org/10.1134/S1560354715050019
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DOI: https://doi.org/10.1134/S1560354715050019