Article Per Year (5 Year)
p-Index From 2020 - 2025
0
P-Index
This Author published in this journals
All Journal Jurnal Ilmu Komputer dan Informasi
Osama Elshazly
Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology (E-JUST) Alexandria, Egypt
Computer Science & IT

Published : 1 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search

 1 
DYNAMICS BASED CONTROL OF A SKID STEERING MOBILE ROBOT Osama Elshazly; Hossam Abbas; Zakarya Zyada
Jurnal Ilmu Komputer dan Informasi Vol 9, No 2 (2016): Jurnal Ilmu Komputer dan Informasi (Journal of Computer Science and Information)
Publisher : Faculty of Computer Science - Universitas Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (853.372 KB) | DOI: 10.21609/jiki.v9i2.381

Abstract

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 included in the reduced order augmented dynamics-drive model is designed. The proposed controller has many advantages such as its simplicity in terms of design and implementation in comparison with complex nonlinear control schemes that are usually designed for this system. Moreover, the good performance is also provided by the controller for the SSMR comparable with a nonlinear controller based on the inverse dynamics which depends on the availability of an accurate model describing the system. Simulation results illustrate the effectiveness and enhancement provided by the proposed controller.
Co-Authors Hossam Abbas Zakarya Zyada