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    Designing New Model-Based Adaptive Sliding Mode Controllers for Trajectory Tracking Control of an Unmanned Ground Vehicle
    (IEEE-Inst Electrical Electronics Engineers Inc, 2023) 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.
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    Model-Based Dynamic Fractional-Order Sliding Mode Controller Design for Performance Analysis and Control of a Coupled Tank Liquid-Level System
    (Univ Suceava, Fac Electrical Eng, 2020) Sekban, Hayriye Tugba; Can, Kaan; Basci, Abdullah
    In this paper, a model-based dynamic fractional-order 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.
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    Performing trajectory tracking control of an unmanned ground vehicle using fractional order terminal sliding mode controller
    (Inderscience Enterprises Ltd, 2023) Sekban, Hayriye Tugba; Basci, 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.