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

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.

Anahtar Kelimeler:

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

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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