Bilge International Journal of Science and Technology Research

Yazarlar: Kamil ORMAN, Adnan DERDİYOK

Konular:Mühendislik, Elektrik ve Elektronik

Anahtar Kelimeler:Mobile Robot,SSMR,Fractional Order Sliding Mode Control

Özet: 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.

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