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Jurnal SINTA 2

DYNAMICS BASED CONTROL OF A SKID STEERING MOBILE ROBOT

Jurnal Ilmu Komputer dan Informasi (JIKI) · Vol. 9 No. 2 (2016) · pp. 70–79

DOI
10.21609/jiki.v9i2.381
ISSN
2502-9274, 2088-7051
Published
2016-06-25
Publisher
Faculty of Computer Science - Universitas Indonesia
Language
eng

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

Collaboration network of the authors

3 authors · 3 co-authorship links · 3 across different organisations

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  • Egypt-Japan University of Science and Technology
  • Assiut University
  • University of Technology Malaysia
  • Different organisations
  • Same organisation
  • Affiliation unknown
  • Thicker line = more joint articles · bigger circle = more articles
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Affiliations come from OpenAlex; journal OAI-PMH metadata carries none. Authors without an OpenAlex ID are matched by name, which can merge or split people.

Metadata source: OAI-PMH (metadata jurnal) https://jiki.cs.ui.ac.id/index.php/jiki/oai, first harvested 26 Okt 2026, last seen 26 Okt 2026.
Original metadata (oai_dc) 
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	<dc:title xml:lang="en-US">DYNAMICS BASED CONTROL OF A SKID STEERING MOBILE ROBOT</dc:title>
	<dc:creator>Elshazly, Osama</dc:creator>
	<dc:creator>Abbas, Hossam</dc:creator>
	<dc:creator>Zyada, Zakarya</dc:creator>
	<dc:subject xml:lang="en-US">Skid Steering Mobile Robots</dc:subject>
	<dc:subject xml:lang="en-US">Reduced order model</dc:subject>
	<dc:subject xml:lang="en-US">Linear Quadratic Regulator</dc:subject>
	<dc:subject xml:lang="en-US">Feed-Forward Compensation</dc:subject>
	<dc:subject xml:lang="en-US">Inverse Dynamics.</dc:subject>
	<dc:description xml:lang="en-US">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.</dc:description>
	<dc:publisher xml:lang="en-US">Faculty of Computer Science  - Universitas Indonesia</dc:publisher>
	<dc:date>2016-06-25</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
	<dc:type>info:eu-repo/semantics/publishedVersion</dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://jiki.cs.ui.ac.id/index.php/jiki/article/view/381</dc:identifier>
	<dc:identifier>10.21609/jiki.v9i2.381</dc:identifier>
	<dc:source xml:lang="en-US">Jurnal Ilmu Komputer dan Informasi; Vol. 9 No. 2 (2016): Jurnal Ilmu Komputer dan Informasi (Journal of Computer Science and Information); 70-79</dc:source>
	<dc:source>2502-9274</dc:source>
	<dc:source>2088-7051</dc:source>
	<dc:source>10.21609/jiki.v9i2</dc:source>
	<dc:language>eng</dc:language>
	<dc:relation>https://jiki.cs.ui.ac.id/index.php/jiki/article/view/381/349</dc:relation>
	<dc:rights xml:lang="en-US">Copyright (c) 2016 Jurnal Ilmu Komputer dan Informasi</dc:rights>
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