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AK, AYÇA

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    SMC controller design for DC motor speed control applications and performance comparison with FLC, PID and PI controllers
    (2023-01-01) AK, AYÇA; Rahmatullah R., AK A., serteller N. F. O.
    Sliding Mode Control (SMC), which is built on the variable structure control (VSC) algorithm, is a robust and non-linear control method that can provide the desired dynamic behaviour for the system to be controlled despite external and internal disturbances and uncertainties. The SMC method can be successfully implemented in the control of high-dimensional nonlinear systems operating under uncertain conditions due to its high accuracy and simplicity of application. In this MATLAB/Simulink based study; the SMC method is applied to the speed control of a DC motor. For this purpose, firstly, the dynamic model of DC motor and the mathematical model of the SMC have been designed and transferred to the Simulink environment. The performance of the SMC system has been examined under different loading conditions applied to the motor. In addition, the effects of changing the SMC parameters on the sliding surface, chattering and motor dynamic behaviours have been investigated. In order to evaluate the success of the SMC topology in DC motor control application, Fuzzy Logic Control, PID and PI control methods were applied on the same motor and their performances were compared with the SMC method.
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    Sliding Mode Controller Design Using Fuzzy Sliding Surface for Flexible Joint Manipulator
    (TAYLOR & FRANCIS LTD) AK, AYÇA; Ak, Ayca
    This paper focuses on designing a new robust controller for flexible joint manipulator using time-varying sliding surface. The sliding mode control is thought to be a powerful choice to overcome nonlinear and parametric uncertainties of flexible joint robot manipulators. The basic idea of the proposed control method is based on fuzzifying the sliding surface. Mamdani type fuzzy controller is used for this purpose. The results have demonstrated that the designed control method has superior performance. It is observed that the proposed control algorithm continues to be efficient in the presence of disturbances. In addition, the results are compared with both fuzzy sliding mode control in which the switching control gain was adjusted by fuzzy logic and the classical sliding mode control. It is observed that the method of adjusting the sliding surface with fuzzy logic follows the desired trajectory with less error than other methods. At the same time, the chattering is eliminated by the proposed method.