Abstract
In this paper, a nonsmooth model of towed wheels is analysed; this mechanism can be a part of different kind of vehicles. We focus on the transitions between slipping and rolling in the presence of dry friction. The model leads to a three-dimensional dynamical system with a codimension-2 discontinuity. The systems can be analysed by means of the tools of extended Filippov systems. The essence of the calculation is to find the so-called limit directions, which show the possible directions of slipping-rolling transitions and their properties. By this method, four different scenarios are found. The results are compared to those from the creep models.
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