Seznam zaměstnanců CIIRC

Baran Alikoc

PoziceZaměstnanec / Kyberneticko-fyzikální systémy
MístnostJP:A-501, Jugoslávských partyzánů 1580/3, 160 00 Praha 6
EmailBaran.Alikoc (at) cvut.cz
Telefon

Researcher with experience in system and control theory; in particular for time-delay systems, flexible systems, coupled map systems and robustness. Currently focused on networked control systems; particularly on cooperative control for multi-agent systems and formation control of mobile robots.
Working in the project Robotics for Industry 4.0 (http://r4i.ciirc.cvut.cz/)

Teaching

Announcement for Internships / B.Sc. project-thesis / M.Sc. thesis
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FORMATION CONTROL OF MOBILE ROBOTS

Subject:
The aim of the project is to implement a cooperative control technique for the formation control of multiple mobile robots, which exist at the Intelligent and Mobile Robotics (IMR) laboratory in Czech Institute of Informatics, Robotics, and Cybernetics (CIIRC). The robots (TurtleBot), which are differential drive (unicycle type), are able to communicate with each other via a wireless protocol, and the velocity and heading angle of the robots are measured by their own sensors. The displacements of the robots with respect to each other will be measured by the industrial cameras. The first goal of the project is to ensure the movement of the robots on x-y plane forming a pre-determined shape such as triangle, line, circular or V-shape. The appropriate consensus algorithm will be performed via simulations first, and then it will be implemented on the physical system. After that stage, flocking with obstacle avoidance using the measurement with LIDAR sensors will be studied and implemented.
An appropriate work plan will be prepared according to the student’s degree and background.

Requirements:
- High motivation for the subject, programming and hands-on engineering
- Preferably experience in robotics, industrial cameras and LIDAR sensors
- Preferably experience with ROS and MATLAB.
- Communication skills in English

Application:
Send an e-mail to me with your CV, and a paragraph explaining your interest and motivation.

Education

PhD, Istanbul Technical University, Control & Automation Eng., 2017
MSc, Istanbul Technical University, Control & Automation Eng., 2010
BSc, Istanbul Technical University, Control Eng., 2007

Publications

Journal Papers
[1] B. Alikoç and A.F. Ergenç. A polynomial method for stability analysis of LTI systems independent of delays. SIAM Journal on Control and Optimization, 55(4):2661–2683, 2017.
[2] B. Alikoç, T. Vyhlídal, and A.F. Ergenç. Closed-form smoothers and shapers with distributed delay for damped oscillatory modes. IET Control Theory and Applications, 10(18):2534–2542, 2016.
[3] Ö. Karabacak, B. Alikoç, and F.M. Atay. Stability regions for synchronized tau-periodic orbits of coupled maps with coupling delay-tau. Chaos, 26(9):093101, 2016.
[4] O. Eris, B. Alikoç, and A.F. Ergenç. A new delayed resonator design approach for extended operable frequency range. Journal of Vibration and Acoustics - Transactions of the ASME , 140(4):041003, 2018.
[5] T. Vyhlídal, D. Pilbauer, B. Alikoç, and W. Michiels. Analysis and design aspects of delayed resonator absorber with position, velocity or acceleration feedback. Submitted to IEEE/ASME Transactions on Mechatronics, 2018.

Book Chapters
[6] B. Alikoç and A.F. Ergenç. A new delay-independent stability test for LTI systems with single delay. In T. Insperger, T. Ersal, and G. Orosz, editors, Time Delay Systems: Theory, Numerics, Applications, and Experiments, vol. 7 of Advances in Delays and Dynamics. Springer International Publishing, pp. 63–76, 2017.

Conference Papers
[7] B. Alikoç and A.F. Ergenç. An Algebraic Approach for a Stability Analysis Methodology for Multiple Time-delay Systems. In 14th IFAC Workshop on Time Delay Systems, IFAC-PapersOnLine, 51(14), pp. 324–329, 2018.
[8] B. Alikoç, J. Bušek, T. Vhylídal, M. Hromcík, and A.F. Ergenç. Flexible mode compensation by inverse shaper in the loop with magnitude saturated actuators. In 20th World Congress of the International Federation of Automatic Control, IFAC-PapersOnline, 50(1), pp. 1251–1256, 2017.
[9] B. Alikoç and A.F. Ergenç. A new delay-independent stability test of LTI systems with single delay. In 12th IFAC Workshop on Time Delay Systems, IFAC-PapersOnLine, 48(12), pp. 386–391, 2015.
[10] D. Engüles, M. Hot, and B. Alikoç. Level control of a coupled-tank system via eigenvalue assignment and LQG control. In 23rd Mediterranean Conference on Control and Automation, MED 2015 - Conference Proceedings, pp. 1198–1203, 2015. (corresponding author)
[11] A.F. Ergenç and B. Alikoç. An experimental study for delay-independent state-feedback controller design. In 19th World Congress of the International Federation of Automatic Control, IFAC Proceedings Volumes, 47(3), pp. 6074–6079, 2014.
[12] A.F. Ergenç and B. Alikoç. Reduced order digital controller design for plants with large time delays. In Proceedings of the 6th International Symposium on Communications, Control and Signal Processing, pp. 266–269, 2014.
[13] B. Alikoç, I. Mutlu, and A.F. Ergenç. Stability analysis of train following model with multiple communication delays. In Proceedings of the 1st IFAC Workshop on Advances in Control and Automation Theory for Transportation Applications, IFAC Proceedings Volumes, 46(25), pp. 13–18, 2013.
[14] B. Alikoç and Gören-Sümer L. H-infinity control of single pendulum gantry. In Preprints of the 6th IFAC Workshop on Technology Transfer in Developing Countries: Automation and Infrastructure, pp. 85–90, 2009.

Research interests

Time-delay systems, input shaper design, vibration suppression, networked control systems, cooperative synchronization control, formation control of mobile robots, vehicular platoons.