摘要：In this paper, we focused on a Self-Balancing Tractor-Trailer-Bicycle(TTB) and developed an under-actuated dynamical model for the system. The bicycle is characterized with two parts, that is a tractor and a trailer, and considering the nonholonomic constrains from no-slipping contacts of its three wheels and the flat ground, we presented a dynamical model for the bicycle by using Chaplygin equation. The model suggest that the TTB should be an under-actuated system with three DOF (degree of freedom) and there are two driving-torque inputs. An inverse dynamics and a virtual prototype simulations are given to demonstrate the correctness of the proposed dynamical model.
