Speed and Direction Angle Control of Four Wheel Drive Skid-Steered Mobile Robot by Using Fractional Order PI Controller

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ORMAN K., BAŞÇİ A., Derdiyok A.

ELEKTRONIKA IR ELEKTROTECHNIKA, vol.22, no.5, pp.14-19, 2016 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 22 Issue: 5
  • Publication Date: 2016
  • Doi Number: 10.5755/j01.eie.22.5.16337
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.14-19
  • Erzincan Binali Yildirim University Affiliated: Yes


In this paper, speed and direction angle control of four-wheel drive skid-steered mobile robot (4WD SSMR) is realized by Fractional-Order Proportional Integral (FOPI) controller. Speed and direction angle of the mobile robot are calculated by using angular velocity of each motors. FOPI controller produces the torques of each motor of mobile robot for trajectory tracking and stabilization in the desired position. A well-tuned conventional PI controller is also applied to mobile robot for comparison with the FOPI. Experimental results prove that the FOPI shows better trajectory tracking performance than PI controller in terms of trajectory tracking accuracy and error levels.