Abstract
The modeling of a two wheeled cart models based on the quasi-canonization method is studied in this paper . For a two wheeled cart model, a set of suitable quasi-coordinates and quasi-momentums are defined according to the geometric characteristics of its configuration space, so that the motion differential equations of the two wheeled cart model is written in the form of Hamilton.. s canonical equation. In this way, the nonholonomic constraining force disappears from the motion differential equations of the wheeled cart model. And the number of the motion differential equations is also reduced due to the nonholonomic constraints on the cart. Moreover, the quasi-canonization means that the wheeled cart model has a special symplectic structure described by quasi-coordinates and quasi-momenta. This lays a foundation for applying numerical calculation methods and control methods based on the symplectic geometry to the study of the wheeled cart model.
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