An Adaptive-Fuzzy Fractional-Order Sliding Mode Controller Design for an Unmanned Vehicle


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ORMAN K., CAN K., BAŞÇİ A., Derdiyok A.

ELEKTRONIKA IR ELEKTROTECHNIKA, cilt.24, sa.2, ss.12-17, 2018 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 24 Sayı: 2
  • Basım Tarihi: 2018
  • Doi Numarası: 10.5755/j01.eie.24.2.20630
  • Dergi Adı: ELEKTRONIKA IR ELEKTROTECHNIKA
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.12-17
  • Erzincan Binali Yıldırım Üniversitesi Adresli: Evet

Özet

In this paper, speed and direction angle of a four wheel skid-steered mobile robot (4 WD SSMR) has been controlled via adaptive-fuzzy fractional-order sliding mode controller (AFFOSMC) under different speed and angle reference signals. The hybrid control method is designed to combine all advantages that controllers have such as flexibility realized by fractional order calculation, robustness to disturbances and parameters variations provided by sliding mode controller (SMC) as well as adaptation of G constant of SMC via fuzzy controller, simultaneously. Also, a fractional-order SMC is applied to the system for the same reference speed and angle references to show the effects of the changes and adaptation of G constant. Experimental results show that the AFFOSMC has better trajectory tracking performance than the FOSMC.