Control of Underactuated Skid Steering Mobile Platforms Based on Extended Factitious Force Concept

Abstract

In the paper new control method of skid steering mobile platforms has been presented. Such platforms are robotic objects with deficit of control inputs in dynamic model, i.e. they are dynamically under-actuated. To compensate lack of controls, it has been assumed that there are additional factitious inputs to dynamics (so-called factitious forces), which preserve possibility to control dynamical model of skid steering mobile platform, expressed in auxiliary velocities. Factitious inputs do not exist in reality therefore it was assumed that they are equal to zero equivalently. Signals calculated from implicit functions defining factitious forces make possible to approximate slipping effects and they can be taken into account by construction of control law.