Data-Driven System Identification of a Modified Differential Drive Mobile Robot Through On-Plane Motion Tests

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dc.authoridBAKIRCI, MURAT/0000-0003-2092-1168
dc.contributor.authorBakirci, Murat
dc.date.accessioned2025-03-17T12:25:10Z
dc.date.available2025-03-17T12:25:10Z
dc.date.issued2023
dc.departmentTarsus Üniversitesi
dc.description.abstractA set of system identification experiments are conducted for a modified differential drive robot. A linear model was developed by performing identification experiments to verify the model and determine unknown parameters by utilizing the motion profiles of the robot. A discrete model based on travelled distance increment was used. Nonlinear model estimates have also been generated using automated identification functions from the MATLAB's system identification toolbox. The linear model was tested through obtained data and the results were compared with the nonlinear model. It was observed that the assumption of the linearly time-invariant model allows for the state-space formulas to be implemented so that these reproductions are developed in a relatively simple structure that does not unnecessarily complicate the control system.
dc.identifier.doi10.5152/electrica.2023.22164
dc.identifier.endpage+
dc.identifier.issn2619-9831
dc.identifier.issue3
dc.identifier.scopus2-s2.0-85182581881
dc.identifier.scopusqualityQ3
dc.identifier.startpage619
dc.identifier.trdizinid1264863
dc.identifier.urihttps://doi.org/10.5152/electrica.2023.22164
dc.identifier.urihttps://search.trdizin.gov.tr/tr/yayin/detay/1264863
dc.identifier.urihttps://hdl.handle.net/20.500.13099/1519
dc.identifier.volume23
dc.identifier.wosWOS:001093363400019
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.indekslendigikaynakTR-Dizin
dc.institutionauthorBakirci, Murat
dc.language.isoen
dc.publisherAves
dc.relation.ispartofElectrica
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_WOS_20250316
dc.subjectAutonomous system
dc.subjectdata-driven control
dc.subjectdifferential drive
dc.subjectmobile robot
dc.subjectsystem identification
dc.titleData-Driven System Identification of a Modified Differential Drive Mobile Robot Through On-Plane Motion Tests
dc.typeArticle

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