Harun Tugal

TL;DR: An adaptive controller is developed for discrete time linear systems that takes into account parametric uncertainty, internal-external non-parametric random uncertainties, and time varying control signal delay and is designed in such a way that it is utterly model free.

TL;DR: This paper provides less conservative stability conditions for bilateral teleoperation by exploiting the advantages of the integral quadratic constraint (IQC) framework, where the environment can be defined as a memoryless, bounded, and monotonic nonlinear operator.

TL;DR: This letter revisits clockwise properties of the Nyquist plot and extends results in the literature to critically stable systems and time-delayed systems and shows that the same class of transfer functions in series with a time delay satisfies the Kalman conjecture.

TL;DR: In this article , an experimental robotic setup with a Stewart platform and a robot manipulator to emulate an underwater vehicle-manipulator system (UVMS) is presented, which consists of a KUKA IIWA14 robotic manipulator mounted on a parallel manipulator, known as Stewart Platform, and a force/torque sensor attached to the end effector of the robotic arm interacting with a pipe.

TL;DR: This initial work considers that the environment can be described by a memoryless, monotone, and bounded nonlinearity, and Zames-Falb multipliers can be introduced to relax the conservatism of current state-of-the-art stability conditions.