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• MakaleAçık Erişim2025Scopus SJRQ2/r/bayburt/12632
  Lyapunov-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.

  İncele
• 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.

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  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
• Kitap BölümüAçık Erişim2023/r/bayburt/11808
  Trajectory 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.

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  İncele
• MakaleAçık Erişim2020/r/bayburt/14834
  Design, 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.

  İncele
• MakaleAçık Erişim2020Scopus SJRQ3/r/bayburt/13357
  Model-based dynamic fractional-order sliding mode controller design for performance analysis and control of a coupled tank liquid-level system

  Sekban, Hayriye Tugba; Can, Kaan; Basci, Abdullah

  In this paper, a model-based dynamic fractionalorder sliding mode controller (FOSMC) is designed and implemented to a coupled tank experimental setup for controlling the liquid level. First, a model-based dynamic sliding-mode controller is designed by using the dynamic equations of a vertically positioned coupled tank system. Then, the sliding surface of the sliding-mode controller is defined in fractional order so that the designed controller can make better water level tracking. The liquid level control of the system is realized in two different steps. In the first step, the water level of the upper tank is controlled by a pump and in this application the bottom tank is not considered. In the second step, the water level of the bottom tank is controlled with upper tank's output water. In addition, a model-based dynamic sliding mode controller (SMC) is also applied to the system to show the performance of the proposed controller in terms of robustness to disturbances, reference tracking and error elimination capability. Experimental results show that the proposed controller reduces the reference tracking error by 3.68% and 10.17% for the upper tank and 17.07% for the bottom tank when compared to the SMC, and the control signal contains more chattering than the SMC.

  AtıfScopus6·WoS6·OpenAlex6

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