Geodesic
Dynamics of the Chaplygin sleigh on a cylinder
Russian journal of nonlinear dynamics, Tome 12 (2016) no. 4, pp. 675-687

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This paper is concerned with the motion of the Chaplygin sleigh on the surface of a circular cylinder. In the case of inertial motion, the problem reduces to the study of the dynamical system on a (two-dimensional) torus and to the classification of singular points. Particular cases in which the system admits an invariant measure are found. In the case of a balanced and dynamically symmetric Chaplygin sleigh moving in a gravitational field it is shown that on the average the system has no drift along the vertical.
Keywords: Chaplygin sleigh, invariant measure, nonholonomic mechanics. 
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     author = {I. A. Bizyaev and A. V. Borisov and I. S. Mamaev},
     title = {Dynamics of the {Chaplygin} sleigh on a cylinder},
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     url = {http://geodesic.mathdoc.fr/item/ND_2016_12_4_a9/}
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I. A. Bizyaev; A. V. Borisov; I. S. Mamaev. Dynamics of the Chaplygin sleigh on a cylinder. Russian journal of nonlinear dynamics, Tome 12 (2016) no. 4, pp. 675-687. http://geodesic.mathdoc.fr/item/ND_2016_12_4_a9/