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

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).