DYNAMICS BASED CONTROL OF A SKID STEERING MOBILE ROBOT

Osama Elshazly (Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology (E-JUST) Alexandria, Egypt)
Hossam Abbas (Electrical Eng. Dept., Faculty of Engineering, Assiut University, Assiut, Egypt)
Zakarya Zyada (Faculty of Mechanical Engineering (FKM), Universiti Teknologi Malaysia, 81310 Johor, Malaysia)

Jurnal Ilmu Komputer dan Informasi
Vol 9, No 2 (2016): Jurnal Ilmu Komputer dan Informasi (Journal of Computer Science and Information)

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.