Wheeled-legged and height adjustable safe transport vehicle design and its fractional-order control with FPGA

There are various studies in the literature about the Automated Guided Vehicle (AGV), which is the subject of the thesis. However, there is no working example of an AGV with a wheeled-legged structure proposed for increasing its mobility and performance. A similar vehicle design is still in its infancy. Unlike the studies in the literature, a design structure that can move over obstacles of certain height without changing its direction and that can take and drop loads at different heights by changing the height from the ground by adjusting the joint angles is the most important original value of the robot proposed in the thesis study. Brushless Direct Current (BLDC) Motor, which is frequently used in today's examples of advanced robotic technologies, were used as a drive element in this study. For the high performance control of BLDC motors, the Fractional-Order Control (FOC) method, which is one of the modern control methods, was used. FOC algorithms are implemented on FPGA (Field-Programmable Gate Array) cards in real time. In the literature, there is not yet a successful real-time application in the FPGA environment for FOC of the BLDC motor. The most important challenge, research subject and another unique value of the thesis study is that the control of many BLDC motors at the same time and with high accuracy will be provided with real-time FOC. In addition, high performance and minimum energy consumption are aimed with the high performance control of BLDC motors, which are highly efficient motors, with FOC, and important conclusions have been made about power management, which is an important research topic in the field of robotics.