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DIFFERENTIAL DRIVE MOBILE ROBOT TRAJECTORY TRACKING WITH USING PID AND KINEMATIC BASED BACKSTEPPING CONTROLLER

Yıl 2017, Cilt: 5 Sayı: 1, 1 - 15, 01.03.2017
https://doi.org/10.15317/Scitech.2017.65

Öz

In this study, the mathematical model of a nonholonomic vehicle was derived. A PID and kinematic based backstepping controller (KBBC) was designed for a differential drive mobile robot to be able to track a desired trajectory. The KBBC was used to overcome the nonlinearity of the trajectory tracking and the PID controllers was used for the DC motors’ speeds adjustments. Responses of the vehicle’s controller in the square shaped trajectory had obtained and results were graphically presented. The effectiveness of the designed controller has been discussed.

Kaynakça

  • Ali, R. S., Aldair, A. A., Almousawi, A. K., 2014, ‘’Design an Optimal PID Controller using Artificial Bee Colony and Genetic Algorithm for Autonomous Mobile Robot’’, International Journal of Computer Applications (0975 – 8887), Vol. 100 (1), pp. 8-16.
  • Dhaouadi, R., Hatab, A. A., 2013, ‚Dynamic Modelling of Differential-Drive Mobile Robots using Lagrange and Newton-Euler Methodologies: A Unified Framework‛, Research Article, Advances in Robotics & AutomationTechnology, Vol. 2 (2), pp. 1-7.
  • España Cabrera, A., 2014, Rapid Prototyping of Mobile Robot Control Algorithms, Degree of Master of Science in Faculty of Electrical Engineering, Department of Control Engineering, Czech Technical University In Prague.
  • Fierro, R., Lewis, F. L., ‚Control of A Nonholonomic Mobile Robot: Backstepping Kinematics Into Dynamics,‛ in Proceedings of 34th IEEE Conference on Decision and Control, New Orleans, Louisiana, USA, pp. 3805-3810, 13-15 December 1995.
  • Hwang, E. J., Kang, H. S., Hyun C. H., Park, M., 2013, ‘’Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots’’, International Journal of Advanced Robotic Systems, Vol.10, 26.
  • Kanayama, Y., Kimura, Y., Miyazaki, F., Noguchi, T., ‚A Stable Tracking Control Method for An Autonomous Mobile Robot,‛ in Proc. IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, pp. 384–389, 13-18 May 1990.
  • Mac, T. T., Copot, C., De Keyser, R., Tran T. D., Vu, T., 2016, ‘’MIMO Fuzzy Control for Autonomous Mobile Robot’’, Journal of Automation and Control Engineering, Vol. 4 (1), pp. 65-70.
  • Mohareri, O., 2009, Mobile Robot Trajectory Tracking Using Neural Networks, Degree of Master of Science in Mechatronics Engineering, American University of Sharjah, United Arab Emirates.
  • Oubbati, M., Schanz, M., Levi, P., ‚Kinematic and Dynamic Adaptive Control of A Nonholonomic Mobile Robot Using A RNN‛, in Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA '05), Espoo, Finland, pp. 27–33, 27-30 Jun 2005.
  • Sidek, S. N., 2008, Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot Subjected to Wheel Slip, Degree of Doctor OF Philosophy in Faculty of the Graduate School, Department of Electrical Engineering, Vanderbilt University.
  • Solea, R., Filipescu, A., Filipescu Jr., A., Minca, E., Filipescu, S., ‘’Wheelchair Control and Navigation Based on Kinematic Model and Iris Movement Robots’’, 2015 IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Angkor Wat, Cambodia, pp. 78-83,15-17 July 2015.
  • Swadi, S. M., Tawfik, M. A., Abdulwahab E. N., Kadhim, H. A., ‘’Fuzzy-Backstepping Controller Based on Optimization Method for Trajectory Tracking of Wheeled Mobile Robot’’, 2016 UKSim-AMSS 18th International Conference on Computer Modelling and Simulation, Cambridge, United Kingdom, pp. 147-152, 6-8 April 2016.
  • Tawfik, M. A., Abdulwahb E. N., Swadi, S. M., 2014, ‘‘Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PID Controller’’, Al-Khwarizmi Engineering Journal, Vol. 10 (3), pp. 39- 52.
  • Yuan, G., 2001, Tracking Control of A Mobile Robot Using Neural Dynamics Based Approaches, Degree of Master of Science in School of Engineering, University of Guelph, Canada.

PID ve Kinematik Tabanlı Geri Adımlamalı Kontrolcü Kullanılarak Diferansiyel Sürüşlü Robotun Yörünge Takibi

Yıl 2017, Cilt: 5 Sayı: 1, 1 - 15, 01.03.2017
https://doi.org/10.15317/Scitech.2017.65

Öz

Bu çalışmada, holonomik olmayan bir aracın matematiksel modeli elde edilmiştir. Diferansiyel sürüşlü mobil robotun arzu edilen yörüngeyi takip edebilmesi için PID ve kinematik tabanlı geri adımlamalı kontrolcü tasarımı yapılmıştır. Geri adımlamalı kontrolcü yörünge takibinin doğrusal olmama durumunun üstesinden gelebilmek, PID kontrolcü ise DC motorların hız ayarlamaları için kullanılmıştır. Kare şekilli bir yörüngeni takibi için aracın kontrolcüsünün cevabı elde edilmiş ve sonuçlar grafiksel olarak sunulmuştur. Tasarlanan kontrolcünün etkinliği tartışılmıştır.

Kaynakça

  • Ali, R. S., Aldair, A. A., Almousawi, A. K., 2014, ‘’Design an Optimal PID Controller using Artificial Bee Colony and Genetic Algorithm for Autonomous Mobile Robot’’, International Journal of Computer Applications (0975 – 8887), Vol. 100 (1), pp. 8-16.
  • Dhaouadi, R., Hatab, A. A., 2013, ‚Dynamic Modelling of Differential-Drive Mobile Robots using Lagrange and Newton-Euler Methodologies: A Unified Framework‛, Research Article, Advances in Robotics & AutomationTechnology, Vol. 2 (2), pp. 1-7.
  • España Cabrera, A., 2014, Rapid Prototyping of Mobile Robot Control Algorithms, Degree of Master of Science in Faculty of Electrical Engineering, Department of Control Engineering, Czech Technical University In Prague.
  • Fierro, R., Lewis, F. L., ‚Control of A Nonholonomic Mobile Robot: Backstepping Kinematics Into Dynamics,‛ in Proceedings of 34th IEEE Conference on Decision and Control, New Orleans, Louisiana, USA, pp. 3805-3810, 13-15 December 1995.
  • Hwang, E. J., Kang, H. S., Hyun C. H., Park, M., 2013, ‘’Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots’’, International Journal of Advanced Robotic Systems, Vol.10, 26.
  • Kanayama, Y., Kimura, Y., Miyazaki, F., Noguchi, T., ‚A Stable Tracking Control Method for An Autonomous Mobile Robot,‛ in Proc. IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, pp. 384–389, 13-18 May 1990.
  • Mac, T. T., Copot, C., De Keyser, R., Tran T. D., Vu, T., 2016, ‘’MIMO Fuzzy Control for Autonomous Mobile Robot’’, Journal of Automation and Control Engineering, Vol. 4 (1), pp. 65-70.
  • Mohareri, O., 2009, Mobile Robot Trajectory Tracking Using Neural Networks, Degree of Master of Science in Mechatronics Engineering, American University of Sharjah, United Arab Emirates.
  • Oubbati, M., Schanz, M., Levi, P., ‚Kinematic and Dynamic Adaptive Control of A Nonholonomic Mobile Robot Using A RNN‛, in Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA '05), Espoo, Finland, pp. 27–33, 27-30 Jun 2005.
  • Sidek, S. N., 2008, Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot Subjected to Wheel Slip, Degree of Doctor OF Philosophy in Faculty of the Graduate School, Department of Electrical Engineering, Vanderbilt University.
  • Solea, R., Filipescu, A., Filipescu Jr., A., Minca, E., Filipescu, S., ‘’Wheelchair Control and Navigation Based on Kinematic Model and Iris Movement Robots’’, 2015 IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Angkor Wat, Cambodia, pp. 78-83,15-17 July 2015.
  • Swadi, S. M., Tawfik, M. A., Abdulwahab E. N., Kadhim, H. A., ‘’Fuzzy-Backstepping Controller Based on Optimization Method for Trajectory Tracking of Wheeled Mobile Robot’’, 2016 UKSim-AMSS 18th International Conference on Computer Modelling and Simulation, Cambridge, United Kingdom, pp. 147-152, 6-8 April 2016.
  • Tawfik, M. A., Abdulwahb E. N., Swadi, S. M., 2014, ‘‘Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PID Controller’’, Al-Khwarizmi Engineering Journal, Vol. 10 (3), pp. 39- 52.
  • Yuan, G., 2001, Tracking Control of A Mobile Robot Using Neural Dynamics Based Approaches, Degree of Master of Science in School of Engineering, University of Guelph, Canada.
Toplam 14 adet kaynakça vardır.

Ayrıntılar

Birincil Dil İngilizce
Konular Mühendislik
Bölüm Makaleler
Yazarlar

Faik Demirbaş Bu kişi benim

Mete Kalyoncu Bu kişi benim

Yayımlanma Tarihi 1 Mart 2017
Yayımlandığı Sayı Yıl 2017 Cilt: 5 Sayı: 1

Kaynak Göster

APA Demirbaş, F., & Kalyoncu, M. (2017). DIFFERENTIAL DRIVE MOBILE ROBOT TRAJECTORY TRACKING WITH USING PID AND KINEMATIC BASED BACKSTEPPING CONTROLLER. Selçuk Üniversitesi Mühendislik, Bilim Ve Teknoloji Dergisi, 5(1), 1-15. https://doi.org/10.15317/Scitech.2017.65
AMA Demirbaş F, Kalyoncu M. DIFFERENTIAL DRIVE MOBILE ROBOT TRAJECTORY TRACKING WITH USING PID AND KINEMATIC BASED BACKSTEPPING CONTROLLER. sujest. Mart 2017;5(1):1-15. doi:10.15317/Scitech.2017.65
Chicago Demirbaş, Faik, ve Mete Kalyoncu. “DIFFERENTIAL DRIVE MOBILE ROBOT TRAJECTORY TRACKING WITH USING PID AND KINEMATIC BASED BACKSTEPPING CONTROLLER”. Selçuk Üniversitesi Mühendislik, Bilim Ve Teknoloji Dergisi 5, sy. 1 (Mart 2017): 1-15. https://doi.org/10.15317/Scitech.2017.65.
EndNote Demirbaş F, Kalyoncu M (01 Mart 2017) DIFFERENTIAL DRIVE MOBILE ROBOT TRAJECTORY TRACKING WITH USING PID AND KINEMATIC BASED BACKSTEPPING CONTROLLER. Selçuk Üniversitesi Mühendislik, Bilim Ve Teknoloji Dergisi 5 1 1–15.
IEEE F. Demirbaş ve M. Kalyoncu, “DIFFERENTIAL DRIVE MOBILE ROBOT TRAJECTORY TRACKING WITH USING PID AND KINEMATIC BASED BACKSTEPPING CONTROLLER”, sujest, c. 5, sy. 1, ss. 1–15, 2017, doi: 10.15317/Scitech.2017.65.
ISNAD Demirbaş, Faik - Kalyoncu, Mete. “DIFFERENTIAL DRIVE MOBILE ROBOT TRAJECTORY TRACKING WITH USING PID AND KINEMATIC BASED BACKSTEPPING CONTROLLER”. Selçuk Üniversitesi Mühendislik, Bilim Ve Teknoloji Dergisi 5/1 (Mart 2017), 1-15. https://doi.org/10.15317/Scitech.2017.65.
JAMA Demirbaş F, Kalyoncu M. DIFFERENTIAL DRIVE MOBILE ROBOT TRAJECTORY TRACKING WITH USING PID AND KINEMATIC BASED BACKSTEPPING CONTROLLER. sujest. 2017;5:1–15.
MLA Demirbaş, Faik ve Mete Kalyoncu. “DIFFERENTIAL DRIVE MOBILE ROBOT TRAJECTORY TRACKING WITH USING PID AND KINEMATIC BASED BACKSTEPPING CONTROLLER”. Selçuk Üniversitesi Mühendislik, Bilim Ve Teknoloji Dergisi, c. 5, sy. 1, 2017, ss. 1-15, doi:10.15317/Scitech.2017.65.
Vancouver Demirbaş F, Kalyoncu M. DIFFERENTIAL DRIVE MOBILE ROBOT TRAJECTORY TRACKING WITH USING PID AND KINEMATIC BASED BACKSTEPPING CONTROLLER. sujest. 2017;5(1):1-15.

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