Lombardi, A. and Dedini, F., "Stability and Dynamical Behavior Study of a Wheelchair," SAE Technical Paper 2004-01-3297, 2004, doi:10.4271/2004-01-3297.
This paper studies the stability of a system and also its dynamical behavior during propulsion. The model was based on Newton-Euler-Jourdan equations. The resulting stability equation is general and establishes the velocity limit of the vehicle. This was modeled with propulsion on the back wheels and the steering on the front wheels. To establish the forces acting over the four wheels was used single-track model twice. It was determined equations for the transversal and longitudinal accelerations and for the rotation over the yaw axes of the vehicle. The contribution of this article is general equations for stability and dynamical behavior.