Abstract
This paper presents a formulation for dynamics of unicycle systems with nonholonomic constraints using principle of interconnection. It is shown that Planck-Okada-Arsove's logic enables to derive kinematical and dynamical constraints for unicycle systems and also that a mathematical model of unicyle systems can be obtained by incorporating those kinematical and dynamical constraints into the Lagrange-d'Alembert principle in the context of the constrained Lagrangian system. Finally, an example of unicycle systems is shown with a bond graph model as well as with numerical simulations.
