Dört Teker Tahrikli Mobil Robotun Gövde Hızı ve Yönelme Açısısının Kesir Dereceli Kayan Kipli Kontrolcü ile Kontrolü

Year 2017, Volume: 1 Special Issue, 38 - 46, 25.12.2017

Kamil Orman , Adnan Derdiyok

Abstract

Bu
çalışmada dört teker tahrikli mobil robotun (4TT MR) gövde hızı ve yönelme
açısının kontrolü için Kesir Dereceli Kayan Kipli Kontrolcü (KDKKK) yapısı
benzetim ortamında test edilmiştir. Mobil robotun gövde hızı ve yönelme açısı
her bir motorun açısal hızı kullanılarak hesaplanmaktadır. Tasarlanacak olan
KDKKK ile mobil robotun yörünge izleme ve konum kararlılığı için her bir motorun
tork işareti üretilecektir. KDKKK’nün performansını kıyaslamak için aynı
referanslar kullanılarak mobil robota parametreleri iyi ayarlanmış bir PI
kontrolcü de uygulanmıştır. Benzetim sonuçları KDKKK’nün geleneksel PI
kontrolcüye göre yörünge izleme doğruluğu ve hata büyüklüğü açısından daha iyi
sonuçlar verdiğini göstermiştir.

Keywords

Mobil Robot, 4TT MR, Kesir Dereceli Kayan Kipli Kontrol

Speed and Direction Angle Control of Four Wheel Drive Skid-Steered Mobile Robot by Fractional Order Sliding-Mode Control

Abstract

In
this study, a Fractional Order Sliding Mode Controller (FOSMC) structure was
simulated to control the direction angle and body speed of a four wheel drive
skid-steered mobile robot (4WD SSMR). The body velocity and orientation angle
of the mobile robot are calculated using the angular velocity of each motor.
The torque signal of each motor for trajectory tracking and position stability of
the mobile robot will be generated by the FOSMC. To compare the performance of
the FOSMC, a PI controller with well-tuned parameters was applied to the mobile
robot using the same references. Simulation studies have shown that the FOSMC
provides better results in terms of error levels and trajectory tracking accuracy
than the conventional PI controller.

Keywords

Mobile Robot, SSMR, Fractional Order Sliding Mode Control

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