Planar motion controller design for a modular mechatronic device with heading compensation

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buir.contributor.authorRistevski, Stefan
buir.contributor.authorÇakmakçı, Melih
dc.citation.epage102257-1en_US
dc.citation.spage102257-12en_US
dc.citation.volumeNumber62en_US
dc.contributor.authorRistevski, Stefanen_US
dc.contributor.authorÇakmakçı, Melihen_US
dc.date.accessioned2020-02-05T11:05:45Z
dc.date.available2020-02-05T11:05:45Z
dc.date.issued2019
dc.departmentDepartment of Mechanical Engineeringen_US
dc.description.abstractMechaCells are designed as closed, scalable and modular semi-autonomous devices that can be used alone or part of a pack. In this paper, we discuss a locomotion system that uses the reaction force produced by a rotating unbalance that moves in a spherical domain with a steering mechanism. In order to produce the precise motion capability, a multi-loop controller is developed. This controller uses a friction compensation algorithm based on the mathematical model of the locomotion system. To improve the accuracy of tracking, conventional LuGre friction estimation model is extended for rapid directional changes of the MechaCell during planar motion. The linear and rotational acceleration of the device is also included in controller calculations since it affects the locomotion force generated by the unbalanced mass. The resulting control system is validated both with simulations and experiments and the effectiveness of the extended model and the controller is verified. Our results show significant improvement when a detailed friction compensation observer is used in the controller that includes the effect of sudden steering changes for precise path following.en_US
dc.description.provenanceSubmitted by Onur Emek (onur.emek@bilkent.edu.tr) on 2020-02-05T11:05:45Z No. of bitstreams: 1 Bilkent-research-paper.pdf: 268963 bytes, checksum: ad2e3a30c8172b573b9662390ed2d3cf (MD5)en
dc.description.provenanceMade available in DSpace on 2020-02-05T11:05:45Z (GMT). No. of bitstreams: 1 Bilkent-research-paper.pdf: 268963 bytes, checksum: ad2e3a30c8172b573b9662390ed2d3cf (MD5) Previous issue date: 2019en
dc.embargo.release2021-10-01
dc.identifier.doi10.1016/j.mechatronics.2019.102257en_US
dc.identifier.issn0957-4158
dc.identifier.urihttp://hdl.handle.net/11693/53089
dc.language.isoEnglishen_US
dc.publisherElsevieren_US
dc.relation.isversionofhttps://doi.org/10.1016/j.mechatronics.2019.102257en_US
dc.source.titleMechatronicsen_US
dc.subjectMotion controlen_US
dc.subjectFriction compensationen_US
dc.subjectMobile robotsen_US
dc.titlePlanar motion controller design for a modular mechatronic device with heading compensationen_US
dc.typeArticleen_US

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