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On moving Chaplygin sleigh on a convex surface

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Abstract

We study the problem of moving Chaplygin sleigh along an arbitrary surface. Motion equations for the sleigh are represented as Appel equations. We consider the case when the sleigh moves along a surface of rotation, in particular, along a plane, sphere, and cylinder. We show several cases when the sleigh’s motion equations can be fully integrated.

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Authors and Affiliations

  1. Dorodnicyn Computer Centre, Russian Academy of Sciences, Moscow, Russia

    S. V. Ifraimov

  2. Moscow State University, Moscow, Russia

    A. S. Kuleshov

Authors
  1. S. V. Ifraimov
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  2. A. S. Kuleshov
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Original Russian Text © S.V. Ifraimov, A.S. Kuleshov, 2013, published in Avtomatika i Telemekhanika, 2013, No. 8, pp. 80–90.

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Ifraimov, S.V., Kuleshov, A.S. On moving Chaplygin sleigh on a convex surface. Autom Remote Control 74, 1297–1306 (2013). https://doi.org/10.1134/S0005117913080067

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  • DOI: https://doi.org/10.1134/S0005117913080067

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