Designing and FOPID Controlling of the Wheeled-Legged Mobile Robot with Adjustable Height

Abstract

In this study, a mobile robot with adjustable height has been designed and controlled. The mobile robot designed as wheeled-legged for improve mobility. Thus, it is possible to take and drop products to different height stations. Brushless DC (BLDC) motors has been used to joints and wheels. Thus, aimed to take advantages of the BLDC motor, which has fast torque response, high torque/volume ratio. Moth Swarm Algorithm (MSA) has been used to the obtaining Fractional-Order PID (FOPID) controller parameters. In addition, well-known and commonly used Integer-Order PID (IOPID) controller has been optimized in same conditions and it is used to comparison. When inspected the results, it has been seen that FOPID controlled BLDC motors has better performance than IOPID controlled BLDC motor. © 2023 IEEE.