Dynamics and control of a three-link wheeled vehicle

In this paper we consider the controlled motion of a symmetric wheeled three-link vehicle on a plane without slipping. Similar systems have been considered in [1] - [6] . We assume that the vehicle consists of three identical platforms (links). The platforms are connected to each other by joints, and a wheel pair is rigidly fastened to the center of mass of each platform. By a wheel pair we mean two wheels rotating independently on the same axis.