LQR ve Lyapunov temelli iki kontrolcünün kinematik bisiklet tipi model için güzergah izleme performansı karşılaştırması

Abstract

This paper focuses on comparative results of two different controllers applied to kinematic bicycle model with rear wheel contact point to the ground as the reference point. The wide range of representation of different types of robots and vehicles of kinematic bicycle model is the main reason for this model selection. This paper has three main sections. The first section of the paper is mathematical modeling of the model. The second section is describing the utilized control techniques. The last section shares results of the simulations. The simulations have been carried out with pure feedback signals in absence of noise. The compared two controllers are an (Linear Quadratic Regulator)LQR controller and a Lyapunov based controller. The objective in the simulations is to track and complete a given constant radius trajectory. Last section includes comparison of results by analyzing statistical values of a defined error signal.