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IJSTR >> Volume 4 - Issue 11, November 2015 Edition



International Journal of Scientific & Technology Research  
International Journal of Scientific & Technology Research

Website: http://www.ijstr.org

ISSN 2277-8616



Dynamic Model And Optimal Control Of A Snake Robot: TAROBOT – 1

[Full Text]

 

AUTHOR(S)

Tayfun Abut

 

KEYWORDS

Index Terms: Snake robot, Genetic Algorithm (GA), GA-PID, Dynamic equations, Fuzzy PID, PID

 

ABSTRACT

Abstract: In this study, a model of snake robot is created and its dynamic modeling and control of a passive wheel planar is observed and studied. The main purpose of this work is to perform a corresponding movement in a stable condition with respect to the actual effect of environmental conditions. Serpanodial motion of the real snakes’ is studied to determine the control of the robot. Holonomic constraints’ of the system is taken into the consideration to obtain the robot’s kinematics and dynamics equations. By using obtained dynamic equations, the model of the system is created in MATLAB/SIMULINK. The simulation studies showing performance of the system are performed by determining the control parameters of the system with Fuzzy and the Genetic Algorithm (GA) and controlling FUZZY PID, GA-PID and PID control. The system control parameters are determined by FUZZY PID, GA-PID and PID control the performance of the system by simulation studies have been performed. In addition, the dynamic motion simulations are carried out for obtaining data and experience before the experimental studies. Graphical results obtained are compared with the results of conventional PID control method applied to the system and the results are analyzed. Consequently, the computer simulations are shown that the suggested control methods are make the system control accomplished

 

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