Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: In the paper new control algorithm for skid-steering mobile platforms has been presented. This control law is based on mathematical model of such object. In the model it has been assumed that wheels of the skid-steering platform are not coupled by tracks and that they can move without some slipping effects, namely with lack of longitudinal slipping of selected wheels and lack of lateral slipping of rear axis. Because skid-steering platform can be considered as nonholonomic system, underactuated on dynamic level (there are only two control inputs to system's dynamics), therefore new control method of underactuated systems has been applied: method of using “factitious forces”. In theoretical considerations and in computer simulations it has been shown that skid-steering platform can track desired trajectory, not necessary admissible, if driving wheels move without longitudinal slipping. In such a case control algorithm works properly.
['Wojciech Domski', 'Alicja Mazur', 'Mateusz Cholewinski']
I am writing a research paper on a idea Factitious force method in control of skid-steering platforms with rare constraints in motion
[{"from": "human", "value": "I am writing a research paper on a idea Factitious force method in control of skid-steering platforms with rare constraints in motion"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: In the paper new control algorithm for skid-steering mobile platforms has been presented. This control law is based on mathematical model of such object. In the model it has been assumed that wheels of the skid-steering platform are not coupled by tracks and that they can move without some slipping effects, namely with lack of longitudinal slipping of selected wheels and lack of lateral slipping of rear axis. Because skid-steering platform can be considered as nonholonomic system, underactuated on dynamic level (there are only two control inputs to system's dynamics), therefore new control method of underactuated systems has been applied: method of using \u201cfactitious forces\u201d. In theoretical considerations and in computer simulations it has been shown that skid-steering platform can track desired trajectory, not necessary admissible, if driving wheels move without longitudinal slipping. In such a case control algorithm works properly."}]