Modelling the motion of a trolley-like car: The case where the front wheel is constraint to roll on a given plane curve

This work deals with the modelling of the motion of a three-wheeled car (see Fig. 1). The front wheel of the car is constrained to roll on a given plane curve. 2 In the model derived here, the motion of the car is controlled by two torques: a pedalling torque and a steering torque, both acting on the front wheel.