Constraint stabilization of two-wheeled sleigh

摘要

In this paper a problem of constraint stabilization of a two-wheeled sleigh is considered.This problem is solved with the help of the Chaplygin's approach,in which Lagrange equations of the second kind are modified with respect to the nonholonomic constraints.For the obtained equations we define the functions of reactions forces of constraints with respect to their stabilization.During the numerical integration some of the stabilization parameters are defining at each step of the summation.This gives an advantage in comparison with the classical stabilization approach.