Geodesic
Using the Dirac approach to simulate the rolling of a wheeled vehicle
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 3 (2014), pp. 68-72

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The problem of wheeled vehicle rolling is considered for the case when the rotation angles of the front wheels about the vertical axis are small. The small relative slip is taken into account in the model of contact between the wheels and the supporting plane. It is shown that, if the contact stiffness tends to infinity, we come to a nonclassical model defined by the longitudinal no-slip conditions and the primary Dirac constraints caused by the degeneracy of the Lagrangian of the original system. 
@article{VMUMM_2014_3_a13,
     author = {A. V. Vlakhova},
     title = {Using the {Dirac} approach to simulate the rolling of a wheeled vehicle},
     journal = {Vestnik Moskovskogo universiteta. Matematika, mehanika},
     pages = {68--72},
     publisher = {mathdoc},
     number = {3},
     year = {2014},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VMUMM_2014_3_a13/}
}
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A. V. Vlakhova. Using the Dirac approach to simulate the rolling of a wheeled vehicle. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 3 (2014), pp. 68-72. http://geodesic.mathdoc.fr/item/VMUMM_2014_3_a13/