Derivation of the nonholonomic equations of motion for an unmanned ground vehicle mounted with a launching device
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https://doi.org/10.54939/1859-1043.j.mst.FMC.2026.80-89Keywords:
Unmanned ground vehicle; Nonholonomic system; Lagrange multiplier; Pseudoinverse matrix.Abstract
In this paper, a non-holonomic dynamic model of an unmanned ground vehicle (UGV) mounted with a launcher (LV) is established based on the Lagrange equations with multipliers. The inverse dynamic model of the UGV-LV mechanical system is formulated as a basis to determine the required wheel-axle torque laws for tracking target trajectories, as well as the dynamic nature of the Lagrange multipliers. The integrated UGV-LV dynamic model serves as the basis for the structural design of the UGV-LV and the synthesis of its controller.
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