Real-Time Tracking and Position Control of an Elastic Cable-Driven Winch System

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dc.authorid0000-0003-3070-6365
dc.authorid0000-0003-3588-8444
dc.authorid0000-0002-2429-8927
dc.contributor.authorSen, Deniz Kavala
dc.contributor.authorArisoy, Aydemir
dc.contributor.authorGokdag, Hakan
dc.date.accessioned2026-02-08T15:15:55Z
dc.date.available2026-02-08T15:15:55Z
dc.date.issued2025
dc.departmentBursa Teknik Üniversitesi
dc.description.abstractThis study explores the sliding mode control (SMC) strategy to address challenges such as nonlinear dynamics, steady-state errors, and torque fluctuations in elastic cable-driven winch systems. While traditional Proportional-Derivative (PD) control is sufficient for linear systems, it struggles with instability and accuracy issues in flexible systems. SMC provides robustness against uncertainties but can cause mechanical wear and performance degradation due to its chattering effect. To mitigate this, a continuous control signal-based SMC approach was adopted, reducing chattering and improving system stability. This study focuses on tracking and position control, as well as managing motor torque fluctuations during position control, emphasizing controller parameter optimization. Experimental results demonstrate that SMC outperforms PD control in tracking, position control, and torque management.
dc.description.sponsorshipTUBITAK-2218 National Post-Doctoral Research Fellowship Programme [123C313]
dc.description.sponsorshipAcknowledgments: This study was created bybenefiting from the TUBITAK-2218 National Post-Doctoral Research Fellowship Programme (Project No: 123C313). However, all responsibility for the publication's content rests solely with the authors.
dc.identifier.doi10.3390/app15105462
dc.identifier.issn2076-3417
dc.identifier.issue10
dc.identifier.scopus2-s2.0-105006809329
dc.identifier.scopusqualityQ1
dc.identifier.urihttps://doi.org/10.3390/app15105462
dc.identifier.urihttps://hdl.handle.net/20.500.12885/6036
dc.identifier.volume15
dc.identifier.wosWOS:001495779600001
dc.identifier.wosqualityQ2
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherMdpi
dc.relation.ispartofApplied Sciences-Basel
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzWOS_KA_20260207
dc.subjectelastic cable-driven system
dc.subjectsliding mode control
dc.subjectreal-time control
dc.subjecttorque ripple
dc.titleReal-Time Tracking and Position Control of an Elastic Cable-Driven Winch System
dc.typeArticle

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