@article{ref1,
title="Generalised multi-axle vehicle handling",
journal="Vehicle system dynamics",
year="2012",
author="Williams, Daniel Eugene",
volume="50",
number="1",
pages="149-166",
abstract="The familiar two-axle bicycle model and associated basic concepts of vehicle handling are reviewed and used to introduce minor changes in convention from the literature. The two-axle model is extended to a three-axle vehicle to illustrate the effectiveness of the notation combined with a simplifying mathematical identity found in the two-axle vehicle literature. A generalised model is then developed that produces dynamic equations of motion by inspection for a vehicle with an arbitrary number of steerable and non-steerable axles. Furthermore, the vehicle dynamic concepts of understeer and wheelbase are generalised and can be directly computed for various arbitrary vehicle configurations.<p />",
language="en",
issn="0042-3114",
doi="10.1080/00423114.2011.577225",
url="http://dx.doi.org/10.1080/00423114.2011.577225"
}