Sürdürülebilir Kalkınma Amaçları
Yayınlar
- MakaleAçık Erişim2025Scopus SJRQ2Lyapunov-based adaptive state-space controller for liquid level control of a coupled tank system with unknown model
Lotfieghlim, Armin; Sekban, Hayriye Tuğba; Başçi, Abdullah
In this paper, a Lyapunov-based adaptive state space controller is designed to realize liquid level control in a coupled tank system. The proposed controller is a kind of adaptive control system that combines the principles of state space representation with Lyapunov stability theory to estimate unknown parameters and control a dynamic system. This approach ensures that the system remains stable even when the exact model parameters are unknown or change over time. Moreover, in order to test the performance of the proposed controller, proportional integral (PI) + feedforward (FF) controller is also applied to the same system under the same conditions and the results are compared. The results show that the proposed controller outperforms the PI + FF controller in terms of system response parameters such as rise time, percent overshoot, and settling time. On the other hand, when the error performance metrics integral squared error (ISE), integral time-weighted squared error (ITSE), integral time-weighted absolute error (ITAE), and integral absolute error (IAE) are evaluated, it is seen that the same situation is also realized here, and the proposed controller follows the reference signals with lower error values in real-time studies for different reference signals.
- Kitap BölümüAçık Erişim2023Trajectory Tracking Control of an Unmanned Ground Vehicle Based on Fractional Order Terminal Sliding Mode Controller
Sekban, Hayriye Tuğba; Başçi, Abdullah
In this chapter, fractional order terminal sliding mode control (FOTSMC) method, which is a hybrid control approach, is used to improve the trajectory tracking control performance of an unmanned ground vehicle (UGV). First, a kinematic controller design has been carried out to estimate the linear and angular velocities that will stabilize the vehicle asymptotically. Then, FOTSMC, which is a hybrid control method that combines the advantages of fractional control and terminal sliding mode control methods, is proposed to perform vehicle reference velocities tracking. In addition, terminal sliding mode control (TSMC) and sliding mode control (SMC) methods are used for trajectory tracking control of the same vehicle to demonstrate the performance of the proposed controller. Simulation results show that the proposed controller performs trajectory tracking with smaller error and lower amplitude chattering compared to TSMC and SMC.
- MakaleAçık Erişim2020Design, Simulation and Comparison of Controllers for Temperature Profile Tracking Control of a Heat Flow System
Can, Kaan; Sekban, Hayriye Tuğba; Orman, Kamil; Başçi, Abdullah
In this paper, the design, simulation and performance comparison of the three different controllers applied to the heat flow system (HFS) are presented. First, the dynamic model of the HFS was obtained and so as to test the temperature control, sliding mode controller (SMC), adaptive sliding mode controller (ASMC) and adaptive fractional order sliding mode controller (AFOSMC) are designed and applied. To analyse the performance of the designed controllers a simulation environment is developed via the Matlab/Simulink software. The results, obtained through a simulation environment are represented by tracking error, adaptation gain, response to sudden changes, maximum overshoot, rise time and settling time and they showed that the heat flow system follows the reference temperature profile trajectory with less errors, overshoot, rise time and settling time by using the AFOSMC than the other controllers. Also, the maximum errors, rise time and settling time occurred when the sliding mode controller is used.
