The dynamics of a Chaplygin sleigh

The problem of the motion of a Chaplygin sleigh on horizontal and inclined surfaces is considered. The possibility of representing the equations of motion in Hamiltonian form and of integration using Liouville's theorem (with a redundant algebra of integrals) is investigated. The asymptotics for the rectilinear uniformly accelerated sliding of a sleigh along the line of steepest descent are determined in the case of an inclined plane. The zones in the plane of the initial conditions, corresponding to a different behaviour of the sleigh, are constructed using numerical calculations. The boundaries of these domains are of a complex fractal nature, which enables a conclusion to be drawn concerning the probable character from of the dynamic behaviour. (c) 2009 Elsevier Ltd. All rights reserved.