This paper presents a new type of underactuated ground mobile robot called Caster Car. The platform consists of a front-driven and steered wheel and two uncontrolled rear caster wheels. The Caster Car model presented can be an interesting alternative for mobile robots that connects dynamic properties of hovercrafts and classical 4-wheeled cars. Underactuated properties of the Caster Car cause that classical proportional-derivative feedback control give the ability to affect only selected configuration variables. Three mathematical models of the Caster Car are proposed: a dynamic model with free-moving casters, a dynamic model with blocked casters, and a simplified hovercraft description. Models were tested during tracking tasks with demanding trajectory using selective and full-state control. This full state control was based on the computed torque technique with the pseudoinverse operation and proportional-derivative feedback. It gives the ability to suppress unstable behaviors of uncontrolled orientation but in cost of overall effect (higher position errors).

Sebastian Korczak

Archives of Control Sciences

控制科学档案馆欢迎对广泛理解的控制科学和相关领域具有重要意义的主题的论文进行考虑，包括：基本控制理论、最优控制、优化方法、复杂系统的控制、动态和控制系统的数学建模、专家和决策支持系统和各种知识建模和表示不确定性的方法（通过随机、集值、模糊或粗糙集方法等）、机器人技术和柔性制造系统。涵盖的相关领域包括信息技术、并行和分布式计算、神经网络和数学生物医学、数理经济学、应用博弈论、金融工程、商业信息学和其他类似领域。

The Archives of Control Sciences welcomes submissions of papers on significant topics in control science and related fields. These topics include fundamental control theory, optimal control, optimization methods, control of complex systems, mathematical modeling of dynamic and control systems, expert systems, and decision support systems, as well as various methods for knowledge modeling and uncertainty representation (such as stochastic, set-valued, fuzzy, or rough set methods). Related fields also encompass information technology, parallel and distributed computing, neural networks, mathematical biomedicine, mathematical economics, applied game theory, financial engineering, business informatics, and other similar areas.

《Archives of Control Sciences》欢迎提交与控制科学及相关领域的重要主题的论文。这些主题包括：基础控制理论、最优控制、优化方法、复杂系统控制、动态系统和控制系统的数学建模、专家系统和决策支持系统，以及各种知识建模和不确定性表示的方法（例如随机、集值、模糊或粗糙集方法等）。相关领域还包括信息技术、并行与分布式计算、神经网络、数学生物医学、数理经济学、应用博弈论、金融工程、商业信息学及其他类似领域。

Category	Quartile
计算机科学	4
计算机科学, 自动化与控制系统	4
计算机科学, 应用数学	4

Caster Car – underactuated ground vehicle with caster wheels

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Journal Info

Category	Quartile
MATHEMATICS, APPLIED	2