Designing New Model-Based Adaptive Sliding Mode Controllers for Trajectory Tracking Control of an Unmanned Ground Vehicle

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dc.authoridBasci, Abdullah/0000-0003-4141-2880
dc.contributor.authorSekban, Hayriye Tugba
dc.contributor.authorBasci, Abdullah
dc.date.accessioned2024-10-04T18:49:25Z
dc.date.available2024-10-04T18:49:25Z
dc.date.issued2023
dc.departmentBayburt Üniversitesien_US
dc.description.abstractThis 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.en_US
dc.identifier.doi10.1109/ACCESS.2023.3313942
dc.identifier.endpage101397en_US
dc.identifier.issn2169-3536
dc.identifier.scopus2-s2.0-85171558288en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage101387en_US
dc.identifier.urihttps://doi.org/10.1109/ACCESS.2023.3313942
dc.identifier.urihttp://hdl.handle.net/20.500.12403/3135
dc.identifier.volume11en_US
dc.identifier.wosWOS:001071719500001en_US
dc.identifier.wosqualityQ2en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherIEEE-Inst Electrical Electronics Engineers Incen_US
dc.relation.ispartofIeee Accessen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectAdaptive controlen_US
dc.subjectkinematic controlen_US
dc.subjectsliding mode controlen_US
dc.subjecttrajectory tracking controlen_US
dc.subjectunmanned ground vehicleen_US
dc.titleDesigning New Model-Based Adaptive Sliding Mode Controllers for Trajectory Tracking Control of an Unmanned Ground Vehicleen_US
dc.typeArticleen_US

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