New approach to the artificial force concept for skid-steering mobile platform

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.