{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,3]],"date-time":"2025-06-03T23:10:03Z","timestamp":1748992203716,"version":"3.41.0"},"reference-count":19,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2016,6,24]],"date-time":"2016-06-24T00:00:00Z","timestamp":1466726400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2016,6,24]],"date-time":"2016-06-24T00:00:00Z","timestamp":1466726400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2017,3]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In the paper new control method of skid steering mobile platforms has been presented. Such platforms are robotic objects with deficit of control inputs in dynamic model, i.e. they are dynamically under-actuated. To compensate lack of controls, it has been assumed that there are additional factitious inputs to dynamics (so-called factitious forces), which preserve possibility to control dynamical model of skid steering mobile platform, expressed in auxiliary velocities. Factitious inputs do not exist in reality therefore it was assumed that they are equal to zero equivalently. Signals calculated from implicit functions defining factitious forces make possible to approximate slipping effects and they can be taken into account by construction of control law.<\/jats:p>","DOI":"10.1007\/s10846-016-0389-1","type":"journal-article","created":{"date-parts":[[2016,6,24]],"date-time":"2016-06-24T08:01:57Z","timestamp":1466755317000},"page":"577-595","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Control of Underactuated Skid Steering Mobile Platforms Based on Extended Factitious Force Concept"],"prefix":"10.1007","volume":"85","author":[{"given":"Alicja","family":"Mazur","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wojciech","family":"Domski","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"El\u017cbieta","family":"Roszkowska","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2016,6,24]]},"reference":[{"key":"389_CR1","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-1501-4","volume-title":"Theory of Robot Control","author":"C Canudas de Wit","year":"1996","unstructured":"Canudas de Wit, C., Siciliano, B., Bastin, G.: Theory of Robot Control. Springer, London (1996)"},{"doi-asserted-by":"crossref","unstructured":"Caracciolo, L., De Luca, A., Iannitti, S.: Trajectory tracking control of a four-wheel differentially driven mobile robot. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2632\u20132638. Detroit (1999)","key":"389_CR2","DOI":"10.1109\/ROBOT.1999.773994"},{"issue":"4","key":"389_CR3","doi-asserted-by":"publisher","first-page":"243","DOI":"10.1002\/rnc.4590050403","volume":"5","author":"B d\u2019Andrea-Novel","year":"1995","unstructured":"d\u2019Andrea-Novel, B., Campion, G., Bastin, G.: Control of wheeled mobile robots not satisfying ideal velocity constraints: A singular perturbation approach. Int. J. Robust Nonlinear Control 5(4), 243\u2013267 (1995)","journal-title":"Int. J. Robust Nonlinear Control"},{"issue":"4","key":"389_CR4","first-page":"477","volume":"14","author":"K Koz\u0142owski","year":"2004","unstructured":"Koz\u0142owski, K., Pazderski, D.: Modeling and control of a 4-wheel skid-steering mobile robot. Int. J. Appl. Math. Comput. Sci. 14(4), 477\u2013496 (2004)","journal-title":"Int. J. Appl. Math. Comput. Sci."},{"key":"389_CR5","volume-title":"Nonlinear and Adaptive Control Design","author":"M Krsti\u0107","year":"1995","unstructured":"Krsti\u0107, M., Kanellakopoulos, I., Kokotovi\u0107, P.: Nonlinear and Adaptive Control Design. Wiley, New York (1995)"},{"issue":"1","key":"389_CR6","first-page":"3","volume":"62","author":"U Libal","year":"2014","unstructured":"Libal, U., P\u0142askonka, J.: Noise sensitivity of selected kinematic path following controllers for a unicycle. Bull. Pol. Ac.: Tech. 62(1), 3\u201313 (2014)","journal-title":"Bull. Pol. Ac.: Tech."},{"doi-asserted-by":"crossref","unstructured":"Maalouf, E., Saad, M., Saliah, H.: A higher level path tracking controller for a four-wheel differentially steered mobile robot. Robot. Autonom. Syst., 23\u201333 (2006)","key":"389_CR7","DOI":"10.1016\/j.robot.2005.10.001"},{"issue":"1","key":"389_CR8","first-page":"31","volume":"53","author":"A Mazur","year":"2005","unstructured":"Mazur, A.: New approach to designing input-output decoupling controllers for mobile manipulators. Bull. Pol. Ac.: Tech. 53(1), 31\u201337 (2005)","journal-title":"Bull. Pol. Ac.: Tech."},{"doi-asserted-by":"crossref","unstructured":"Mazur, A., Cholewi\u0144ski, M.: Robust control of differentially driven mobile platforms. In: Proc. 8th Workshop Robot Motion and Control RoMoCo 2011, pp. 53\u201364. Springer (2011)","key":"389_CR9","DOI":"10.1007\/978-1-4471-2343-9_5"},{"key":"389_CR10","doi-asserted-by":"publisher","first-page":"433","DOI":"10.1007\/s10846-013-9878-7","volume":"77","author":"A Mazur","year":"2015","unstructured":"Mazur, A., Cholewi\u0144ski, M.: Virtual force concept in steering mobile manipulators with skid-steering platform moving in unknown environment. J. Intell. Robot. Syst. 77, 433\u2013443 (2015)","journal-title":"J. Intell. Robot. Syst."},{"doi-asserted-by":"crossref","unstructured":"Mazur, A., Sa\u0327siadek, J.Z., Cholewi\u0144ski, M.: Control of mobile manipulator with skid-steering platform moving in unknown terrain in presence of disturbance. In: Proc. 10th Int. Conf. on Inform. in Control, Automation and Robotics, pp. 161\u2013168. Reykjavik (2013)","key":"389_CR11","DOI":"10.5220\/0004450801610168"},{"doi-asserted-by":"crossref","unstructured":"Mohammadpour, E., Naraghi, M., Gudarzi, M.: Posture stabilization of skid steer wheeled mobile robots. In: Proc. IEEE Int. Conf. on Robotics, Automation and Mechatronics, pp. 163\u2013169. Singapore (2010)","key":"389_CR12","DOI":"10.1109\/RAMECH.2010.5513194"},{"issue":"6","key":"389_CR13","doi-asserted-by":"publisher","first-page":"875","DOI":"10.1109\/70.897800","volume":"16","author":"I Motte","year":"2000","unstructured":"Motte, I., Campion, G.: A slow manifold approach for the control of mobile robots not satisfying the kinematic constraints. IEEE Trans. Rob. Autom. 16(6), 875\u2013880 (2000)","journal-title":"IEEE Trans. Rob. Autom."},{"doi-asserted-by":"crossref","unstructured":"Pazderski, D., Koz\u0142owski, K.: Trajectory tracking of underactuated skid-steering robot. In: Proc. American Control Conf., pp. 3506\u20133510. Seattle (2008)","key":"389_CR14","DOI":"10.1109\/ACC.2008.4587036"},{"doi-asserted-by":"crossref","unstructured":"Petrella, R., Tursini, M., Peretti, L., Zigliotto, M.: Speed measurement algorithms for low-resolution incremental encoder equipped drives: A comparative analysis. In: Proc. Int. Aegean Conf. on Electr. Machines and Power Electronics, pp. 780\u2013787. Bodrum (2007)","key":"389_CR15","DOI":"10.1109\/ACEMP.2007.4510607"},{"doi-asserted-by":"crossref","unstructured":"Samson, C., Ait-Abderrahim, K.: Feedback control of a nonholonomic wheeled cart in cartesian space. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1136\u20131141. Sacramento (1991)","key":"389_CR16","DOI":"10.1109\/ROBOT.1991.131748"},{"issue":"11","key":"389_CR17","doi-asserted-by":"publisher","first-page":"995","DOI":"10.1109\/9.14411","volume":"33","author":"JJ Slotine","year":"1988","unstructured":"Slotine, J.J., Li, W.: Adaptive manipulator control: A case study. IEEE Trans. Autom. Contr. 33(11), 995\u20131003 (1988)","journal-title":"IEEE Trans. Autom. Contr."},{"key":"389_CR18","volume-title":"Manipulators and Mobile Robots: Models, Motion Planning, Control","author":"K Tcho\u0144","year":"2000","unstructured":"Tcho\u0144, K., Mazur, A., Dule\u0327ba, I., Hossa, R., Muszy\u0144ski, R.: Manipulators and Mobile Robots: Models, Motion Planning, Control. PLJ Publisher, Warsaw (2000). (in Polish)"},{"key":"389_CR19","doi-asserted-by":"publisher","first-page":"75","DOI":"10.1007\/978-1-4471-2343-9_7","volume":"422","author":"K Zadarnowska","year":"2012","unstructured":"Zadarnowska, K., Ratajczak, A.: Task-priority motion planning of wheeled mobile robots subject to slipping. Lecture Notes Control Inf. Sci. 422, 75\u201385 (2012)","journal-title":"Lecture Notes Control Inf. Sci."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-016-0389-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0389-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0389-1","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0389-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,3]],"date-time":"2025-06-03T22:39:21Z","timestamp":1748990361000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-016-0389-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,6,24]]},"references-count":19,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2017,3]]}},"alternative-id":["389"],"URL":"https:\/\/doi.org\/10.1007\/s10846-016-0389-1","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2016,6,24]]},"assertion":[{"value":"14 December 2015","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"22 April 2016","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 June 2016","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}