Sürdürülebilir Kalkınma Amaçları

• 1

Yazarlar

• Basci, Abdullah(1)
• Başçi, Abdullah(1)
• Sekban, Hayriye Tugba(1)
• Sekban, Hayriye Tuǧba(1)

• MakaleAçık Erişim2023/r/bayburt/13128
  Performing 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.

  • 
  AtıfScopus3·WoS3·OpenAlex3

  İncele
• MakaleYayıncıda açık erişim2023Scopus SJRQ1/r/bayburt/13121
  Designing 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.

  AtıfScopus12·WoS10·OpenAlex13

  İncele