Performing trajectory tracking control of an unmanned ground vehicle using fractional order terminal sliding mode controller

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dc.contributor.authorSekban, Hayriye Tugba
dc.contributor.authorBasci, Abdullah
dc.date.accessioned2024-10-04T18:52:37Z
dc.date.available2024-10-04T18:52:37Z
dc.date.issued2023
dc.departmentBayburt Üniversitesien_US
dc.description.abstractIn 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.en_US
dc.identifier.doi10.1504/IJSA.2023.127493
dc.identifier.endpage88en_US
dc.identifier.issn2050-0467
dc.identifier.issn2050-0475
dc.identifier.issue1en_US
dc.identifier.scopus2-s2.0-85161843344en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage73en_US
dc.identifier.urihttps://doi.org/10.1504/IJSA.2023.127493
dc.identifier.urihttp://hdl.handle.net/20.500.12403/3587
dc.identifier.volume9en_US
dc.identifier.wosWOS:000899422000005en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherInderscience Enterprises Ltden_US
dc.relation.ispartofInternational Journal of Sustainable Aviationen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectunmanned ground vehicleen_US
dc.subjectUGVen_US
dc.subjecttrajectory tracking controlen_US
dc.subjectkinematic controlen_US
dc.subjectfractional order terminal sliding mode controlen_US
dc.titlePerforming trajectory tracking control of an unmanned ground vehicle using fractional order terminal sliding mode controlleren_US
dc.typeArticleen_US

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