Geodesic
On the effect of aligning moments on the wheeled vehicle dynamics at $\mu$-split
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 1 (2021), pp. 46-54

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The dynamics of a biaxial four-wheeled vehicle is simulated when they are on "$\mu$-split surface" (a section of the reference plane containing regions with different friction coefficients) in the case when the friction coefficient for one of the wheels of the driving axis turns out to be significantly less than the friction coefficient for the remaining wheels. The wheels do not lose grip with the reference plane, the model of their contact takes into account the possibility of slipping the wheels in the longitudinal and transverse directions and the effect of aligning moments. 
@article{VMUMM_2021_1_a7,
     author = {A. V. Vlakhova and A. P. Novoderova},
     title = {On the effect of aligning moments on the wheeled vehicle dynamics at $\mu$-split},
     journal = {Vestnik Moskovskogo universiteta. Matematika, mehanika},
     pages = {46--54},
     publisher = {mathdoc},
     number = {1},
     year = {2021},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VMUMM_2021_1_a7/}
}
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A. V. Vlakhova; A. P. Novoderova. On the effect of aligning moments on the wheeled vehicle dynamics at $\mu$-split. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 1 (2021), pp. 46-54. http://geodesic.mathdoc.fr/item/VMUMM_2021_1_a7/