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Dynamic model of a two-trailer articulated vehicle subject to nonholonomic constraints

Published online by Cambridge University Press:  09 March 2009

P. Bolzern ,
R. DeSantis ,
A. Locatelli  and
S. Togno
P. Bolzern
Affiliation:
Dip. Elettronica e Informazione, Politecnico di Milano Piazza L. da Vinci 32, 20133 Milano (Italy).
R. DeSantis
Affiliation:
Dept. de Genie Electrique et Genie Informatique Ecole Polythecnique de Montreal 2900 Boul. Edouard-Mont Petit, C.P. 6079-A Montreal, Quebec (Canada)
A. Locatelli
Affiliation:
Dip. Elettronica e Informazione, Politecnico di Milano Piazza L. da Vinci 32, 20133 Milano (Italy).
S. Togno
Affiliation:
Dip. Elettronica e Informazione, Politecnico di Milano Piazza L. da Vinci 32, 20133 Milano (Italy).
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Summary

The dynamic model of an articulated vehicle consisting of one tractor and two semi-trailers is derived according to a systematic approach available in the literature. The model is produced on the assumption of no slippage, which enforces nonholonomic constraints. The resulting equations encompass a number of significant special cases.

Keywords

Articulated vehiclesHolonomic constraintsNonholonomic constraintsDynamic model.
Type
Article
Information
Robotica , Volume 14 , Issue 4 , July 1996 , pp. 445 - 450
Copyright
Copyright © Cambridge University Press 1996

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