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- MakaleAçık Erişim2023Performing trajectory tracking control of an unmanned ground vehicle using fractional order terminal sliding mode controller
Sekban, Hayriye Tuǧba; Başçi, Abdullah
In this paper, fractional order terminal sliding mode control (FOTSMC) method is used for trajectory tracking control performance of an unmanned ground vehicle (UGV). Firstly, a kinematic controller is designed to estimate the linear and angular velocities of the vehicle. Then, a FOTSMC design is carried out to track the vehicle reference velocities. Terminal sliding mode control (TSMC) and sliding mode control (SMC) methods are also used to demonstrate the performance of the proposed controller. The simulation results show that the proposed controller improves the tracking error by about 13% over SMC and 6.146% compared to TSMC.
AtıfScopus3WoS3OpenAlex3
İncele - MakaleYayıncıda açık erişim2023Scopus SJRQ1Designing New Model-Based Adaptive Sliding Mode Controllers for Trajectory Tracking Control of an Unmanned Ground Vehicle
Sekban, Hayriye Tugba; Basci, Abdullah
This paper proposes three new dynamic model-based adaptive sliding mode controllers (ASMC) for trajectory tracking control of unmanned ground vehicles (UGV). The controllers combine kinematic and dynamic control to achieve asymptotic stability and finite-time convergence and their stability is verified using the Lyapunov stability theory. The controllers are designed to address the challenges posed by uncertainties in vehicle dynamic parameters and outperform the sliding mode control (SMC) method in trajectory tracking control. The simulation results of the proposed controllers are also discussed in terms of performance metrics. The simulation results show that the controller proposed in rule 1 shows the better performance in terms of trajectory tracking, and then the controllers proposed in rules 2 and 3 have good performances, respectively. In addition, when the simulation results are compared, it is seen that the performance of all three proposed controllers is better than the SMC.
AtıfScopus12WoS10OpenAlex13İncele - 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.