Nasser A.M. Barakat

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About

Nasser A.M. Barakat is a distinguished researcher in robotics and control systems, with a primary focus on motion control of wheeled mobile robots (WMRs) and electromechanical systems. His pioneering work on computed torque control (CTC) for mobile robots has established foundational methodologies in the field. Barakat's most influential contribution, "Velocity control of wheeled mobile robots using computed torque control and its performance for a differentially driven robot" (1997, 11 citations), introduced a novel CTC scheme that adapts robotic arm control principles to WMR Cartesian velocity regulation, addressing critical challenges in trajectory tracking and dynamic response. His subsequent work, "Speed control of a DC motor using a feedforward computed torque control scheme" (2002, 8 citations), extended these principles to DC motor speed regulation, demonstrating how inverse dynamic models can compensate for real-time changes in system dynamics—a significant advancement over conventional gain-tuned controllers. Barakat's research bridges theoretical control theory with practical robotic applications, offering robust solutions for autonomous navigation and industrial automation. His contributions remain highly relevant for students and engineers developing intelligent, adaptive control systems for mobile platforms and servo mechanisms.