New Approach to the Artificial Force Concept for Skid-steering Mobile Platform

Alicja Mazur, Wojciech Domski, Mirela Kaczmarek, Mateusz Cholewinski

Abstract

In the paper control algorithm for skid-steering mobile platform is presented. For mathematical model of such an object, expressed in auxiliary coordinates, control law based on the idea of artificial force is introduced. A skid-steering mobile platform is an underactuated control system with a rectangular input matrix. In the approach explored in the paper it was assumed that there exists an additional control input, giving an additional column in input matrix and causing this matrix invertible. Because such an actuator does not exist in reality, this input was kept equal to zero equivalently. Simulations have proved proper work of this method.

References

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Paper Citation


in Harvard Style

Mazur A., Domski W., Kaczmarek M. and Cholewinski M. (2015). New Approach to the Artificial Force Concept for Skid-steering Mobile Platform . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 217-222. DOI: 10.5220/0005521002170222


in Bibtex Style

@conference{icinco15,
author={Alicja Mazur and Wojciech Domski and Mirela Kaczmarek and Mateusz Cholewinski},
title={New Approach to the Artificial Force Concept for Skid-steering Mobile Platform},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={217-222},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005521002170222},
isbn={978-989-758-123-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - New Approach to the Artificial Force Concept for Skid-steering Mobile Platform
SN - 978-989-758-123-6
AU - Mazur A.
AU - Domski W.
AU - Kaczmarek M.
AU - Cholewinski M.
PY - 2015
SP - 217
EP - 222
DO - 10.5220/0005521002170222