A Variable-Structure Model for Studying Skidding of a Four-Wheeled Vehicle with Slipping Wheels

Using the bicycle model, the dynamics of a biaxial four-wheeled vehicle is studied at the initial stage of skidding, which develops as a result of slipping of the driving axis wheels. To describe the interaction of wheels with the reference plane, the Coulomb friction model, the lateral slip model, and the nonholonomic model are used. A model of the variable structure describing the stages of movement of the vehicle is constructed. Asymptotic methods and the phase plane method are used for the study.