4DOF simple model documentation (theory) seems incomplete

[henrychoi]

The picture link is broken as well

[andresmendes]

I intend to update the documentation at some point based on:
https://github.com/andresmendes/openvd/blob/master/docs/theory/vehicleSimple4DOF.pdf

[henrychoi]

Thank you. I am reading the PDF now to understand. Right now, I cannot understand your equation (11). When I derive it, I come up with something simpler.

For example, why is the d(\alpha_p)/dt = \dot \psi + \dot \alpha_p ?

[andresmendes]

This may be because of the reference frame or just the simplification of the equations. The kinematics for the 3 DOF vehicle may help and can be found here: https://www.mathworks.com/matlabcentral/fileexchange/58683-vehicle-dynamics-lateral