DYNAMICS BASED CONTROL OF A SKID STEERING MOBILE ROBOT
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.
Keywords: Skid Steering Mobile
Robots, Reduced order model, Linear Quadratic Regulator, Feed-Forward
Compensation, Inverse Dynamics
Author: Osama Elshazly, Hossam
Abbas, Zakarya Zyada
Journal Code: jptkomputergg160010
