id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
alkej-360	Al-Araji, Ahmed S.; Yousif, Noor Q.	تصميم خوارزمية هجينة مدركة لتنغيم مسيطر لاخطي لتتابع مسار لعجلة الإنسان آلي متنقل	2017	10	.pdf	application/pdf	5304	231	62	64- 73 (2017) 66 +��� = �.�$%&�'(����&�()����* � …(14) )1()(cos)]()([5.0)( −+∆+= kxtkkwlkwrrkx θ ...(15) )1()(sin)]()([5.0)( −+∆+= kytkkwlkwrrky θ ...(16) )1()]()([)( −+∆−= ktkwlkwr L r k θθ …(17) where � is total linear force; � is total angular torque; ������ is linear acceleration; ��� �� is angular acceleration; ���� is linear velocity; � �� is angular velocity; + is angular velocity of the left wheel; # is angular velocity of the right wheel; )(),(),( kkykx θ are the pose of the mobile robot at each step kth of the movement and t∆ is the sampling time. ���������� ���� � …(8) ��������� = ���� � …(9) ��� ����� = ����� � …(10) ������� = ��������� × ∆!	cache/alkej-360.pdf	txt/alkej-360.txt