DYNAMICS BASED CONTROL OF A SKID STEERING MOBILE ROBOT

DYNAMICS BASED CONTROL OF A SKID STEERING MOBILE ROBOT

In this paper, development of a reduced order, augmented dynamics-drive model that combines both the dynamics and drive subsystems of the skid steering mobile robot (SSMR) is presented. A Linear Quadratic Regulator (LQR) control algorithm with feed-forward compensation of the disturbances part inclu...

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Bibliographic Details
Main Authors: Osama Elshazly, Hossam Abbas, Zakarya Zyada
Format: Article
Language:English
Published: Universitas Indonesia 2016-06-01
Series:Jurnal Ilmu Komputer dan Informasi
Subjects:
Skid Steering Mobile Robots, Reduced order model, Linear Quadratic Regulator, Feed-Forward Compensation, Inverse Dynamics.
Online Access:http://jiki.cs.ui.ac.id/index.php/jiki/article/view/381

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