Design of Hybrid MPC-PID Controller Based on Fractional Order Model of AMR

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dc.contributor.authorCelik, Orkan Murat
dc.contributor.authorDeniz, Furkan Nur
dc.contributor.authorKoseoglu, Murat
dc.date.accessioned2026-04-04T13:33:24Z
dc.date.available2026-04-04T13:33:24Z
dc.date.issued2025
dc.departmentİnönü Üniversitesi
dc.description.abstractIn today's world, robots, especially autonomous mobile robots (AMR), have critical roles in domestic, medical, and industrial applications. As technology develops and the diverse demands emerge, the tasks to be completed by AMRs become more complex and challenging. AMRs need to be improved to struggle with these difficulties. So, implementing more precise and reliable control strategies for robots is becoming increasingly important. To this end, a novel hybrid control methodology, composed of a Proportional-Integral-Derivative (PID) controller and a model predictive controller (MPC), is proposed based on the fractional-order model of the AMR. The MPC optimizes the reference signal for the PID controller, enhancing overall performance. First, the fractional order model of AMR is extracted by considering the input and output data from AMR at different velocity values, eliminating the need for detailed physical modeling and technical information for AMR. After verifying the obtained model, a model reduction technique is applied to simplify the obtained transfer function to reduce the computational burden on the processor of AMR. Then, based on the simplified transfer function a hybrid MPC-PID controller is designed and implemented on Turtlebot3 Burger (TB3) AMR to improve the robot's performance. It is demonstrated that the hybrid controller, which is designed without requiring detailed equations of the system components, exhibits a good performance in minimizing errors and enhancing reliability for both angular and linear velocity values.
dc.description.sponsorshipInonu University, Scientific Research Projects Coordination Unit (BAP) [FDK-2022-2777]
dc.description.sponsorshipThis work was supported by Inonu University, Scientific Research Projects Coordination Unit (BAP) under Grant FDK-2022-2777.
dc.identifier.doi10.1109/ACCESS.2025.3570947
dc.identifier.endpage89569
dc.identifier.issn2169-3536
dc.identifier.orcid0000-0002-2524-7152
dc.identifier.orcid0000-0003-3774-1083
dc.identifier.orcid0000-0001-7231-1711
dc.identifier.scopus2-s2.0-105005277800
dc.identifier.scopusqualityQ1
dc.identifier.startpage89556
dc.identifier.urihttps://doi.org/10.1109/ACCESS.2025.3570947
dc.identifier.urihttps://hdl.handle.net/11616/109139
dc.identifier.volume13
dc.identifier.wosWOS:001498285200038
dc.identifier.wosqualityQ2
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherIeee-Inst Electrical Electronics Engineers Inc
dc.relation.ispartofIEEE Access
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_WOS_20250329
dc.subjectRobots
dc.subjectSystem identification
dc.subjectMathematical models
dc.subjectMobile robots
dc.subjectPredictive models
dc.subjectData models
dc.subjectAccuracy
dc.subjectReliability
dc.subjectPredictive control
dc.subjectStability analysis
dc.subjectAutonomous mobile robot
dc.subjectfractional order model
dc.subjecthybrid control
dc.subjectmodel predictive control
dc.subjectmodel reduction
dc.subjectrobot operating system
dc.titleDesign of Hybrid MPC-PID Controller Based on Fractional Order Model of AMR
dc.typeArticle

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