239 citations · 1.1k across the 21 of their papers we have counts for
19 papers · 1 filter
Concurrent Learning Based Tracking Control of Nonlinear Systems using Gaussian Process
Vedant Bhandari, Erkan Kayacan
This paper demonstrates the applicability of the combination of concurrent learning as a tool for parameter estimation and non-parametric Gaussian Process for online disturbance le…
Distributed nonlinear model predictive control of an autonomous tractor-trailer system
Erkan Kayacan, Erdal Kayacan, Herman Ramon +1
This paper addresses the trajectory tracking problem of an autonomous tractor-trailer system by using a fast distributed nonlinear model predictive control algorithm in combination…
Adaptive Neuro-Fuzzy Control of a Spherical Rolling Robot Using Sliding-Mode-Control-Theory-Based Online Learning Algorithm
Erkan Kayacan, Erdal Kayacan, Herman Ramon +1
As a model is only an abstraction of the real system, unmodeled dynamics, parameter variations, and disturbances can result in poor performance of a conventional controller based o…
Towards agrobots: Identification of the yaw dynamics and trajectory tracking of an autonomous tractor
Erkan Kayacan, Erdal Kayacan, Herman Ramon +1
More efficient agricultural machinery is needed as agricultural areas become more limited and energy and labor costs increase. To increase their efficiency, trajectory tracking pro…
Towards Agrobots: Trajectory Control of an Autonomous Tractor Using Type-2 Fuzzy Logic Controllers
Erdal Kayacan, Erkan Kayacan, Herman Ramon +2
Provision of some autonomous functions to an agricultural vehicle would lighten the job of the operator but in doing so, the accuracy should not be lost to still obtain an optimal…
Robust Tube-Based Decentralized Nonlinear Model Predictive Control of an Autonomous Tractor-Trailer System
Erkan Kayacan, Erdal Kayacan, Herman Ramon +1
This paper addresses the trajectory tracking problem of an autonomous tractor-trailer system by using a decentralized control approach. A fully decentralized model predictive contr…