Simulation of rolling of wheeled vehicle using the Dirac approach / A. V. Vlakhova. //Vestnik Moskovskogo Universiteta. Seriya 1. Matematika. Mekhanika. 2014. ? 3. P. 68-72 [Moscow Univ. Math. Bulletin. Vol. 69, N 3, 2014.].

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.

Key words: rolling systems, systems with small generalized velocities, small slipping, quasisliding, nonholonomic constraints, primary Dirac constraints.