Baris Bidikli

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.

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.

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.

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.

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.