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Baris Bidikli

Bio: Baris Bidikli is an academic researcher from Izmir Kâtip Çelebi University. The author has contributed to research in topics: Robust control & Control theory. The author has an hindex of 7, co-authored 23 publications receiving 132 citations. Previous affiliations of Baris Bidikli include İzmir Institute of Technology & Dokuz Eylül University.

Papers
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Proceedings ArticleDOI
01 Dec 2013
TL;DR: A new robust integral of signum of error (RISE) feedback type controller is designed for a class of uncertain nonlinear systems that does not require prior knowledge of upper bounds of the vector containing the uncertainties of the dynamical system plus desired system dynamics for the control gain selection.
Abstract: In this paper, a new robust integral of signum of error (RISE) feedback type controller is designed for a class of uncertain nonlinear systems. Unlike the previous versions of RISE feedback type controllers, the proposed controller does not require prior knowledge of upper bounds of the vector containing the uncertainties of the dynamical system plus desired system dynamics (and their derivatives) for the control gain selection. The aforementioned enhancement is made possible via the design of a time-varying compensation gain as opposed to a constant gain used in previous RISE feedback type controllers. Asymptotic stability of the error signals and the boundedness of the closed-loop system signals are ensured via Lyapunov based arguments. Numerical simulation studies are presented to illustrate the viability of the proposed method.

32 citations

Journal ArticleDOI
TL;DR: In this paper, a robust controller that ensures asymptotic position tracking is designed for an unactuated surface vessel by using multiple uni-directional tugboats, which is implemented in two steps: Initially by locating opposing tugboats to specific configurations, the overall problem is transformed into a second order system with an uncertain non-symmetric input gain matrix.

23 citations

Journal ArticleDOI
TL;DR: A self-tuning robust integral of signum of error (RISE) based controller is designed and used to control a magnetic levitation (maglev) system and Convergence of the error under the closed-loop operation is proven via Lyapunov-based stability analysis.

22 citations

Proceedings ArticleDOI
04 Jun 2014
TL;DR: This study has extended the previous design of a RISE formulation with a time-varying compensation gain to obtain a fully self tuning RISE feedback formulation and applies Lyapunov based arguments to prove overall system stability.
Abstract: In recent years, controller formulations using robust integral of sign of error (RISE) type feedback have been successfully applied to a variety of nonlinear dynamical systems. The drawback of these type of controllers however, are (i) the need of prior knowledge of the upper bounds of the system uncertainties and (ii) the absence of a proper gain tuning methodology. To tackle the aforementioned weaknesses, in our previous work [1] we have presented a RISE formulation with a time-varying compensation gain to cope for the need of upper bound of the uncertain system. In this study, we have extended our previous design to obtain a fully self tuning RISE feedback formulation. Lyapunov based arguments are applied to prove overall system stability and extensive numerical simulation studies are presented to illustrate the performance of the proposed method.

19 citations

Journal ArticleDOI
TL;DR: In this article, a continuous robust controller is proposed for surface vessels that in addition to unstructured uncertainties in its dynamics, contains added mass effects in its inertia matrix, which compensates the overall system uncertainties while ensuring asymptotic tracking by utilizing the knowledge of the leading principal minors of the input gain matrix.

13 citations


Cited by
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01 Jan 2016
TL;DR: In this paper, the authors describe how to download and install guidance and control of ocean vehicles in the house, workplace, or perhaps in your method can be all best place within net connections.
Abstract: By searching the title, publisher, or authors of guide you in reality want, you can discover them rapidly. In the house, workplace, or perhaps in your method can be all best place within net connections. If you objective to download and install the guidance and control of ocean vehicles, it is utterly easy then, past currently we extend the colleague to buy and make bargains to download and install guidance and control of ocean vehicles therefore simple!

611 citations

Journal ArticleDOI
TL;DR: The stability and stabilization criteria are derived by taking into consideration an asynchronous difference between the normalized membership function of the T–S fuzzy DPS and that of the controller, which can stabilize states of the UMV.
Abstract: This paper is concerned with a Takagi–Sugeno (T–S) fuzzy dynamic positioning controller design for an unmanned marine vehicle (UMV) in network environments. Network-based T–S fuzzy dynamic positioning system (DPS) models for the UMV are first established. Then, stability and stabilization criteria are derived by taking into consideration an asynchronous difference between the normalized membership function of the T–S fuzzy DPS and that of the controller. The proposed stabilization criteria can stabilize states of the UMV. The dynamic positioning performance analysis verifies the effectiveness of the networked modeling and the controller design.

197 citations

Journal ArticleDOI
TL;DR: In this article, a survey of recent advances in marine mechatronic systems from a control perspective is presented, including surface vessels, underwater robotic vehicles, profiling floats, underwater gliders, wave energy converters, and offshore wind turbines.
Abstract: This paper surveys the recent advances in marine mechatronic systems from a control perspective. The survey is by no means exhaustive, but introduces some notable results in marine control area. New developments in terms of control system designs for surface vessels, underwater robotic vehicles, profiling floats, underwater gliders, wave energy converters, and offshore wind turbines are briefly reviewed. In addition, a few avenues for future research are identified.

188 citations

Journal ArticleDOI
TL;DR: In this article, a fault tolerant control strategy for dynamic positioning of unmanned marine vehicles using the quantized feedback sliding mode control technique is proposed, which is based on switching mechanism to compensate for thruster faults effects.
Abstract: This paper proposes a novel fault tolerant control strategy for dynamic positioning of unmanned marine vehicles using the quantized feedback sliding mode control technique. Due to the complex ocean environment, the unmanned marine vehicles are modeled as the Takagi-Sugeno fuzzy system with unknown membership functions. When the membership functions are not available, traditional sliding mode control technique becomes infeasible. To tackle this difficulty, a novel quantized sliding mode control strategy based on switching mechanism is designed to compensate for thruster faults effects. In addition, the phenomenon of time-varying delay leads to conservativeness of the existing dynamic quantization parameter adjustment strategy. Then a larger quantization parameter adjustment range, by taking time delay and fault factor into account, is given. Combining the novel sliding mode controller design and the improved dynamic quantization parameter adjustment strategy, the dynamic positioning of unmanned marine vehicles with thruster faults and quantization can be maintained. Finally, the effectiveness of the proposed method is verified through the simulation comparison results.

87 citations

01 Jan 1998
TL;DR: In this paper, the authors summarize information that has been accumulated worldwide and that is relevant to dynamic stability of repulsive-force maglev systems, assimilating that information, and gaining an understanding of the factors that influence that stability.
Abstract: Vehicle dynamics and the need to satisfy ride quality requirements have long been recognized as crucial to the commercial success of passenger carrying transportation systems. Design concepts for maglev systems are no exception. The work reported here was undertaken with the intention of summarizing information that has been accumulated worldwide and that is relevant to dynamic stability of repulsive-force maglev systems, assimilating that information, and gaining an understanding of the factors that influence that stability. Included in the paper is a discussion and comparison of results acquired from some representative tests of large-scale vehicles on linear test tracks, together with analytical and laboratory-scale investigations of stability and dynamics of EDS systems. The paper also summarizes the R and D activities at Argonne National Laboratory since 1991 to study the nature of the forces that are operative in an EDS system and the dynamic stability of such systems.

82 citations