Publications

J26. Joseph Chai and Erkan Kayacan, "Nonlinear Simulation and Performance Characterisation of an Adaptive Model Predictive Control Method for Booster Separation and Re-Entry", Electronics, 2023, 12, 1488. PDF URL

J25. Joseph Chai, Eran Medagoda, and Erkan Kayacan, "Adaptive and efficient model predictive control for booster re-entry", Journal of Guidance, Control, and Dynamics, vol. 43, no. 12, pp. 2372-2382, 2020. PDF URL

J24. Zhongzhong Zhang, Erkan Kayacan, Benjamin Thompson and Girish Chowdhary, "High precision control and deep learning-based corn stand counting algorithms for agricultural robot", Autonomous Robots, vol. 44, pp. 1289-1302, 2020. PDF URL

J23. Mohit Mehndiratta, Erkan Kayacan, Mahmut Reyhanoglu and Erdal Kayacan "Robust tracking control of aerial robots via a simple learning strategy-based feedback linearization", IEEE Access, vol. 8, pp. 1653-1669, 2020. PDF URL

J22. Ardashir Mohammadzadeh Erkan Kayacan, "A novel fractional-order type-2 fuzzy control method for online frequency regulation in ac microgrid", Engineering Applications of Artificial Intelligence, vol. 90, 2020. PDF URL

J21. Erkan Kayacan, “Closed-Loop Error Learning Control for Uncertain Nonlinear Systems With Experimental Validation on a Mobile Robot", IEEE/ASME Transactions on Mechatronics, vol. 24, no. 5, pp. 2397-2405, 2019.  PDF URL

J20. Erkan Kayacan, Girish Chowdhary, “Tracking Error Learning Control for Precise Mobile Robot Path Tracking in Outdoor Environment", Journal of Intelligent & Robotic Systems, vol. 95, no. 3-4, pp. 975–986, 2019. PDF URL

J19. Sierra N. Young, Erkan Kayacan, and Joshua Peschel, "Design and Field Evaluation of a Ground Robot for High-Throughput Phenotyping of Energy Sorghum", Precision Agriculture, vol. 20, no. 4, pp 697–722, 2019. PDF URL

J18. Erkan Kayacan, “Sliding Mode Control for Systems with Mismatched Time-Varying Uncertainties via a Self-Learning Disturbance Observer", Transactions of the Institute of Measurement and Control, vol. 41, no. 7 pp. 2039–2052, 2019. PDF URL

J17. Erkan Kayacan, “Sliding Mode Learning Control of Uncertain Nonlinear Systems with Lyapunov Stability Analysis", Transactions of the Institute of Measurement and Control, vol. 41, no. 6, pp. 1750-1760, 2019. PDF URL

J16. Erkan Kayacan, Thor I. Fossen, “Feedback Linearization Control for Systems with Mismatched Uncertainties via Disturbance Observers", Asian Journal of Control, vol. 21, no. 3, pp. 1064-1076, May 2019. PDF URL

J15. Ardashir Mohammadzadeh and Erkan Kayacan, “A Non-singleton Type-2 Fuzzy Neural Network with Adaptive Secondary Membership for High Dimensional Applications", Neurocomputing, vol. 338, pp. 63-71, 2019. PDF URL

J14. Erkan Kayacan, Sierra N. Young, Joshua M. Peschel and Girish Chowdhary, “High Precision Control of Tracked Field Robots in the Presence of Unknown Traction Coefficients", Journal of Field Robotics, vol. 35, no. 7, pp. 1050-1062, 2018. PDF URL

J13. Erkan Kayacan, Wouter Saeys, Herman Ramon, Calin Belta, and Joshua M. Peschel, "Experimental Validation of Linear and Nonlinear MPC on an Articulated Unmanned Ground Vehicle", IEEE/ASME Transactions on Mechatronics, vol. 23, no. 5, pp. 2023- 2030, 2018.  PDF URL

J12. Erkan Kayacan, Joshua M. Peschel and Girish Chowdhary, “A self-learning disturbance observer for nonlinear systems in feedback-error learning scheme”, Engineering Applications of Artificial Intelligence, vol. 62, pp. 276-285, 2017. PDF URL

J11. Erkan Kayacan, “Multi-Objective H-infinity Control for String Stability of Cooperative Adaptive Cruise Control Systems”, IEEE Transactions on Intelligent Vehicles, vol. 2, no. 1, pp. , 2017. PDF URL

J10. Erkan Kayacan, Herman Ramon, Wouter Saeys, “Robust Trajectory Tracking Error Model-Based Predictive Control for Unmanned Ground Vehicles”, IEEE/ASME Transactions on Mechatronics, , vol. 21, no. 2, pp. 806-814, 2016. PDF URL

J9. Erkan Kayacan, Erdal Kayacan, Mojtaba Ahmadieh Khanesar, “Identification of Nonlinear Dynamic Systems Using Type-2 Fuzzy Neural Networks-A Novel Learning Algorithm and a Comparative Study,” IEEE/ASME Transactions on Industrial Electronics, vol.62, no.3, pp.1716-1724, 2015.  PDF URL

J8. Erkan Kayacan, Erdal Kayacan, Herman Ramon, Wouter Saeys, “Robust Tube-based Decentralized Nonlinear Model Predictive Control of an Autonomous Tractor-Trailer System”, IEEE Transactions on Mechatronics, vol.20, no.1, pp.447-456, 2015. PDF URL

J7. Erkan Kayacan, Erdal Kayacan, Herman Ramon, and Wouter Saeys, "Learning in Centralized Nonlinear Model Predictive Control: Application to an Autonomous Tractor-trailer System", IEEE Transactions on Control Systems Technology, vol.23, no.1, pp.197-205, 2015. PDF URL

J6. Erdal Kayacan, Erkan Kayacan, Herman Ramon, Wouter Saeys, “Towards Agrobots: Trajectory Control of an Autonomous Tractor Using Type-2 Fuzzy Logic Controllers,” IEEE/ASME Transactions on Mechatronics, vol.20, no.1, pp.287-298, 2015. PDF URL

J5. Erkan Kayacan, Erdal Kayacan, Herman Ramon, Wouter Saeys, “Towards agrobots: Identification of the yaw dynamics and trajectory tracking of an autonomous tractor,” Computers and Electronics in Agriculture, vol. 115, pp.78-87, 2015. PDF URL

J4. Erkan Kayacan, Erdal Kayacan, Herman Ramon, and Wouter Saeys, "Distributed Nonlinear Model Predictive Control of an Autonomous Tractor-trailer System", Mechatronics, vol.24, no.8, pp.926-933, 2014. PDF URL

J3. Erkan Kayacan, Erdal Kayacan, Herman Ramon, and Wouter Saeys, "Nonlinear Modeling and Identification of an Autonomous Tractor-Trailer System ", Computers and Electronics in Agriculture, vol. 106, pp.1-10, 2014. PDF URL

J2. Erkan Kayacan, Erdal Kayacan, Herman Ramon, Wouter Saeys, “Adaptive Neuro-Fuzzy Control of a Spherical Rolling Robot Using Sliding-Mode-Control-Theory-Based Online Learning Algorithm,” IEEE Transactions on Cybernetics, vol.43, no.1, pp.170-179, Feb. 2013. PDF URL

J1. Erkan Kayacan, Zeki Y. Bayraktaroglu, and Wouter Saeys, “Modeling and Control of a Spherical Rolling Robot: A Decoupled Dynamics Approach” Robotica, vol. 30, pp. 671-680, 2012. PDF URL

C16. Wonoo Choo and Erkan Kayacan, "Data-Based MHE for Agile Quadrotor Flight", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023. PDF

C15. Wonoo Choo and Erkan Kayacan, "Computationally Efficient Data-Driven MPC for Agile Quadrotor Flight," 2023 American Control Conference (ACC), San Diego, CA, USA, 2023, pp. 2627-2632. PDF URL

C14. Vedant Bhandari and Erkan Kayacan, "Concurrent Learning Based Tracking Control of Nonlinear Systems using Gaussian Process," 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2021, pp. 970-975. PDF URL

C13. Erkan Kayacan, Shinkyu Park, Carlo Ratti and Daniela Rus, "Online System Identification Algorithm without Persistent Excitation for Robotic Systems: Application to Reconfigurable Autonomous Vessels, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). PDF URL

C12. Erkan Kayacan, Shinkyu Park, Carlo Ratti and Daniela Rus, "Learning-Based Nonlinear Model Predictive Control of Reconfigurable Autonomous Robotic Boats: Roboats, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). PDF URL

C11. Shinkyu Park, Erkan Kayacan, Carlo Ratti and Daniela Rus, "Coordinated Control of a Reconfigurable Multi-Vessel Platform: Robust Control Approach", 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019, pp. 4633-4639. PDF URL

C10. Erkan Kayacan, Zhongzhong Zhang and Girish Chowdhary, "Embedded High Precision Control and Corn Stand Counting Algorithms for an Ultra-Compact 3D Printed Field Robot", Proceedings of Robotics: Science and Systems (RSS), Pittsburgh, Pennsylvania, USA, 2018. Best Systems Paper Award PDF URL

C9. Mohit Mehndiratta, Erkan Kayacan, and Erdal Kayacan*, "A Simple Learning Strategy for Feedback Linearization Control of Aerial Package Delivery Robot", 2018 IEEE Conference on Control Technology and Applications (CCTA), Copenhagen, 2018, pp. 361-367. PDF URL

C8. Erkan Kayacan and Joshua M. Peschel, "Robust Model Predictive Control of Systems by Modeling Mismatched Uncertainty", 10th IFAC Symposium on Nonlinear Control Systems, IFAC-PapersOnLine, 49(18), Monterey, CA, pp. 265-269, 2016. PDF URL

C7. Erkan Kayacan Joshua M. Peschel and Erdal Kayacan, "Centralized, Decentralized and Distributed Nonlinear Model Predictive Control of a Tractor-Trailer System: A Comparative Study", 2016 American Control Conference (ACC), Boston, MA, 2016, pp. 4403-4408. PDF URL 

C6. Erdal Kayacan, Mojtaba A. Khanesar, and Erkan Kayacan, "Stabilization of Type-2 Fuzzy Takagi-Sugeno-Kang Identifier Using Lyapunov Functions", The 2015 IEEE International Conference on Fuzzy Systems, Istanbul, Turkey, pp. 1-6, August 2-5, 2015. PDF URL

C5. Erkan Kayacan, Erdal Kayacan, Herman Ramon, and Wouter Saeys, "Modeling and Identification of the Yaw Dynamics of an Autonomous Tractor", The 9th Asian Control Conference (ASCC 2013), Istanbul, Turkey, June 23-26, 2013. PDF URL

C4. Erdal Kayacan, Erkan Kayacan, Herman Ramon and Wouter Saeys, "A Robust On-line Learning Algorithm for Type-2 Fuzzy Neural Networks and its Experimental Evaluation on an Autonomous Tractor", 2012 IEEE International Conference on Systems, Man, and Cybernetics, Seoul, South Korea, pp. 1652-1657, 14-17 October, 2012. PDF URL

C3. Erdal Kayacan, Wouter Saeys, Erkan Kayacan, Herman Ramon and Okyay Kaynak, "Intelligent control of a tractor-implement system using type-2 fuzzy neural networks", WCCI 2012 IEEE World Congress on Computational Intelligence, Brisbane, Australia, 2012, pp. 171-178. 2012. PDF URL

C2. Erkan Kayacan, Erdal Kayacan, Herman Ramon, and Wouter Saeys, "Velocity Control of a Spherical Rolling Robot Using a Grey-PID Type Fuzzy Controller With an Adaptive Step Size", SYROCO 2012 10th International IFAC Symposium on Robot Control, Dubrovnik, Croatia, pp. 863-868, 5-7 September, 2012. PDF URL

C1. Erdal Kayacan, Erkan Kayacan, Herman Ramon, and Wouter Saeys, "Neuro-Fuzzy Control with a Novel Training Method Based-on Sliding Mode Control Theory: Application to Tractor Dynamics", SYROCO 2012 10th International IFAC Symposium on Robot Control, Dubrovnik, Croatia, pp. 889-894, 5-7 September, 2012. PDF URL