Halil Ibrahim Basturk

Assistant Professor

Department of Mechanical, Bogazici University††

34342 Bebek Istanbul, Turkey†††††††††††††††††††††††††††††††††† †††


Phone: + 90 212 359 4882†† FAX: +90 212 287 2456 
Office: M 4205†† E-Mail:



About ††††††††Teaching †††††††††Research††††††††† Publications††††† ††††People



Current Projects

VTOL UAVís Ė Adaptive Inner & Outer Loop Control for Autonomous Source Tracking and Landing (on going)


Four-rotor vertical takeoff and landing unmanned aerial robots known as quadrotor's have been employed for various applications. The success of a quadcopter that is employed for a search and rescue or a similar operation, relies on the quality of the implemented inner and outer loop control algorithms. The main aim of the project is to make a contribution to the efficiency of the quadcopters in these kind of operations by developing and implementing an inner and an outer loop control algorithms. The adaptive inner loop algorithm which is planned to develop during this project, will be robust with respect to uncertain vehicle parameters, different weight of payloads and environmental disturbances such as wind. On the other hand, the designed outer loop algorithm will be able to make the quadcopter land on nearby a signal source without the position knowledge and by only measuring the strength of the signal.


Oil Drilling - Compensation of Stick-Slip Oscillation (on going)


One of the most important instability during drilling of an oil well is the stick-slip oscillations. There are three important inputs in the system to suppress the vibrations; weight on bit (WoB), angular velocity of the rotary table and the selection of the mud type. The common actuator used in a control design is WoB since it is easy to implement without changing any developed structure and contains minimum actuation delay in the practice. However, it is important and challenging to estimate the angular velocity of the drill bit with limited sensors. I am currently working on developing a state estimator to estimate the angular velocity of the drill bit and also the friction of the rock by using limited sensor measurement.

Previous Projects

Control tools for ramp-connected surface effect ship (SES)


The problem of cargo transfer in high sea states over a ramp from an LMSR (large, mediumspeed, roll-on/roll-off) vessel to a SES, the T-Craft, is considered. An adaptive control algorithm is developed to make the bow of T-Craft track the stern of the LMSR to keep the ramp stable, in spite of unknown system parameters (mass, inertia, hydrodynamic terms, etc) and unknown wave disturbance by using heave (pitch) rate and acceleration. The actuator is chosen as the louver area. A time-domain sea-keeping CFD code, AEGIR is used to simulate the system. The developed controller is implemented by MATLAB. The connection between MATLAB and AEGIR is established by using a toolbox, named NavaSIM.


Experiment on a scale model SES


The developed adaptive controller is tested on a scale model of SES, called AirCat, at Florida Atlantic University. The experiment set up consists of a scale model SES, a micro-controller that belongs to ARM7 family, (and more specifically, is LPC2388 from NXP Semiconductors), an electric motor which is driven by a 40A NAVY motor driver used to amplify pulse-width modulation signal from a micro-controller and regulate a motors angular rate, a VN-100 inertial measurement unit (IMU) from VectorNav, and a pressure sensor. The micro-controller is placed on a KEIL MCB2300 development board. The codes are developed by using C language and the _Vision4 with the RealView MDK-ARM from KEIL is used as the compiler. The developed controller is implemented by MATLAB. The connection between the micro-controller and the MATLAB code is established by a serial port connection. Click here to see the video.


Pitch control for tandem lifting body catamaran (TLB-Cat)


An active control system is designed to stabilize the pitch of TLB-Cat by assuming that the aft lifting body (ALB) is actuated and pitch rate and acceleration are measured. The system parameters (mass, inertia, hydrodynamic terms, etc) and wave disturbance are treated as uncertain.