Abstract
This paper illustrates the application of three novel linearization procedures, recently validated with a well-acknowledged bicycle benchmark and valid for general multibody systems with holonomic and nonholonomic constraints, to study the linear stability of some examples of nonholonomic multibody systems. Despite the dynamics and control of mechanical systems with nonholonomic constraints have been widely researched and discussed, the linearization of their equations of motion and stability analyses along different types of trajectories are more uncharted subjects. In particular, the linear stability of the forward motion with constant velocity of three nonholonomic systems is analysed: a simplified skateboard model, similar to a Chaplygin sleigh; a hoop rolling without slipping, and a torus rolling without slipping. The nonlinear equations of motion of these systems are obtained by means of a multibody system dynamics approach. Three different procedures are used to perform the linearization of the equations of motion, leading to linear systems of different sizes. The values of the resulting eigenvalues are compared and discussed for each of the previously mentioned nonholonomic systems.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
