Journal of Automation and Control
ISSN (Print): 2372-3033 ISSN (Online): 2372-3041 Website: Editor-in-chief: Santosh Nanda
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Journal of Automation and Control. 2016, 4(2), 15-21
DOI: 10.12691/automation-4-2-2
Open AccessSpecial Issue

Comparison of Different Approaches of Mathematical Modelling of Ackerman Steered Car-like System

Tomáš Lipták1, , Michal Kelemen1, Alexander Gmiterko1, Ivan Virgala1, Ľubica Miková1 and Darina Hroncová1

1Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia

Pub. Date: December 14, 2016

Cite this paper:
Tomáš Lipták, Michal Kelemen, Alexander Gmiterko, Ivan Virgala, Ľubica Miková and Darina Hroncová. Comparison of Different Approaches of Mathematical Modelling of Ackerman Steered Car-like System. Journal of Automation and Control. 2016; 4(2):15-21. doi: 10.12691/automation-4-2-2


The article deals with the issue of mathematical modelling of nonholonomic system. The introductory part of article contains theory about different approaches of mathematical modelling that we used. Further we explained the basic principle of Ackerman steered car-like system. Then it contains the determination of mathematical model for Ackerman steered car-like system where we consider ideal source of velocity. In the last part we compared and showed individual advantages and disadvantages of approaches of mathematical modelling.

Lagrangian mechanics geometric mechanics Ackerman mathematical model vector fields

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