Position-trajectory control of advanced tracked robots with diesel-electric powertrain

Abstract

Recently an interest about the control systems for ground robots has increased. The main papers are focused on improving the accuracy of motion of complex nonlinear and multilinked systems. This paper presents a control system of s highly maneuverable tracked robot based on algorithms of The Position-trajectory control. These algorithms have proved their effective in synthesis of control systems for aeronautic, aircraft and ground-based robots. This paper introduced a model of the advanced tracked robot taking into account the internal and external forces acting on it; a model of diesel engine with turbocharger and model of electric powertrain based on inertial parts.