This work deals with the modelling and control of the motion of a trolley moving on a plane with a time-dependent inclination. The trolley is composed from two rear wheels, each of them controlled separately, a connecting frame, and a front caster wheel (see Figure 1). © 2003 Elsevier Ltd. All rights reserved.
Yavin, Y. (2003). Modelling and Control of the Motion of a Trolley Moving on a Plane with a Time-Dependent Inclination. Mathematical and Computer Modelling, 38(5–6), 611–621. https://doi.org/10.1016/S0895-7177(03)90031-8