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Intelligent Systems'2014 pp 129–140Cite as

Influence of Choosing the Extending Column in Trajectory Tracking Control of SSMP Platform Using Artificial Force Method

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 323))

Abstract

Paper presents application of artificial force method in mathematical model of Skid Steering Mobile Platform. This method is used for controlling nonholonmic object, which is underactuated due to the lateral slippage phenomena needed for changing the orientation. Paper focuses on influence of choosing different columns in the position error and torque domain, which is important from the practical point of view. It was proved that the choose of extending column may have an influence on the quality of control.The control algorithms were tested in numerous simulations and proved to work properly under different conditions (e.g. motor torque limitations).

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References

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Author information

Authors and Affiliations

  1. Chair of Cybernetics and Robotics Electronics Faculty, Wroclaw University of Technology, ul. Janiszewskiego 11/17, 50-372, Wroclaw, Poland

    Mateusz Cholewiński & Alicja Mazur

Authors
  1. Mateusz Cholewiński
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  2. Alicja Mazur
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Corresponding author

Correspondence to Mateusz Cholewiński .

Editor information

Editors and Affiliations

  1. Ford Motor Company, Research & Advanced Engineering, Dearborn, Mississippi, USA

    D. Filev

  2. Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland

    J. Jabłkowski

  3. Polish Academy of Sciences, Systems Research Institute, Warsaw, Poland

    J. Kacprzyk

  4. Polish Academy of Sciences and WIT - Warsaw School of Information Technology, Systems Research Institute, Warsaw, Poland

    M. Krawczak

  5. Bulgarian Academy of Sciences, Institute of Information and Communication, Sofia, Bulgaria

    I. Popchev

  6. Department of Computer Engineering, Częstochowa University of Technology, Częstochowa, Poland

    L. Rutkowski

  7. Bulgarian Academy of Sciences, Institute of Information and Communication Technologies, Sofia, Bulgaria

    V. Sgurev

  8. Department of Computer and Information Technologies, “Prof. Assen Zlatarov" University Faculty of Technical Sciences, Bourgas, Bulgaria

    E. Sotirova

  9. Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland

    P. Szynkarczyk

  10. Polish Academy of Sciences, Systems Research Institute, Warsaw, Poland

    S. Zadrozny

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© 2015 Springer International Publishing Switzerland

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Cite this paper

Cholewiński, M., Mazur, A. (2015). Influence of Choosing the Extending Column in Trajectory Tracking Control of SSMP Platform Using Artificial Force Method. In: Filev, D., et al. Intelligent Systems'2014. Advances in Intelligent Systems and Computing, vol 323. Springer, Cham. https://doi.org/10.1007/978-3-319-11310-4_12

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  • DOI: https://doi.org/10.1007/978-3-319-11310-4_12

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-11309-8

  • Online ISBN: 978-3-319-11310-4

  • eBook Packages: EngineeringEngineering (R0)

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