Skid steering mobile robot modeling and control

Abstract

In this paper, a reduced order model of dynamic and drive models augmentation of a skid steering mobile robot is presented. Moreover, a Linear Quadratic Regulator (LQR) controller augmented with a feed-forward part is designed for controlling this reduced order model. The controller is simple in terms of design and implementation in comparison with complex nonlinear control schemes that are usually designed for this system. Moreover, it provides good performance for the plant comparable with a nonlinear controller based on the inverse dynamics which depends on the availability of an accurate model describing the system. Simulation results are included.