Question

(t), For this question, this system has two inputs. The first input is the velocity of The following figure depicts a standard bicycle model used for modeling vehicles. Its state is described by some position, r ф(t) the front tire, v(t). The second input is the steer which of the following answers best describes the equations of motion? the (xr(t), yr(t)) 4(1)-r(t) cos(φ(t)) cos(0(t)) (t)(t) cos(p())sin((t)) 0(1)-v(t)sin(φ(t)) ) (t)cos(o(t) A(t)-v(t) sin(θ (t)) 00-v(t) tan(φ(t)) A(t) 4(t)-v(t) sin(θ(t)) ))cos(o(o) v(t) tan(p(t)) ,(t)-v(t) sin(φ(t)) cos(θ(t)) It(t)-v(t)sin(d(t)) sin(θ(t)) θ(t)s u(t) cos*(φ(t)) +vt) cos(p(t)) cos(()) y(t)-y(t) + u(t) cos(φ(t)) sin(θ (t)) 0(t)s 0(t) + v(t)sin(φ(t)) ))+()cos(oo)) ) )+ v)sin(o)) 0(t) + v(t)tan(φ(t)) 6(1) 4(t)-xr(t) + v(t) sin(θ(t)) )-)+v)cos((o) 0Otano )x+v()sin(p()) cos(e()) A(t)-y(t) + v(t) sin(d(t)) sin(θ(t)) 6(t) + v(t)cos2(φ(t)) θ(t)

Answer 1

) c And cha