Ersin Daş

Ersin Daş

Assistant Professor at Illinois Tech

Publications

You can also find my papers on Google Scholar.

Preprints/Submitted

  1. H. T. Dinc, E. Daş, N. Thelenberg, and C. Ott, Passivity-Guaranteed Variable Impedance and Compliance Control via Online Parameter Optimization, IEEE Robotics and Automation Letters, 2026.
  2. D. E.J. van Wijk, E. Daş, A. Alan, S. Coogan, T. G. Molnar, J. W. Burdick, M. Majji, and K. L. Hobbs, Uncertainty Estimators for Robust Backup Control Barrier Functions, Automatica, 2025. Paper
  3. E. Sarioglu, E. Daş, and K. M. Dogan, Safe Model Reference Adaptive Control of Uncertain Systems with Actuator Dynamics, Systems & Control Letters, 2026.
  4. E. Sayar, A. Redder, E. Daş, and E. Kayacan, Safe Diffusion Planning via Batch-Parallel Model Predictive Control Projection and Pareto Selection, IEEE International Conference on Robotics and Automation (ICRA), 2027.

Journal Papers

  1. A. K. Kiss, E. Daş, T. G. Molnar, and A. D. Ames, Integral Control Barrier Functions with Input Delay: Prediction, Feasibility, and Robustness, IEEE Control Systems Letters (L-CSS), 2026. Paper
  2. D. E.J. van Wijk, D. Lee, E. Daş, T. G. Molnar, A. D. Ames, and J. W. Burdick, Generalizations of Backup Control Barrier Functions: Expansion and Adaptation for Input-Bounded Safety-Critical Control, IEEE Control Systems Letters (L-CSS), 2026. Paper
  3. L. Gacsi, A. K. Kiss, E. Daş, and T. G. Molnar, Enforcing Mixed State-Input Constraints with Multiple Backup Control Barrier Functions: A Projection-based Approach, IEEE Control Systems Letters (L-CSS), 2026. Paper
  4. K. Echigo, D. E.J. van Wijk, P. Mestres, E. Daş, J. W. Burdick, and A. D. Ames, Probabilistic Control Barrier Functions for Systems with State Estimation Uncertainty using Sub-Gaussian Concentration, IEEE Control Systems Letters (L-CSS), 2026. Paper
  5. E. Daş, R. Nanayakkara, X. Tan, R. M. Bena, J. W. Burdick, P. Tabuada, and A. D. Ames, Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions, IEEE Robotics and Automation Letters, 2025. Paper, code, video
  6. T. Touma, E. Daş, E. Tevere, M. Feather, K. Kolcio, M. Prather, A. Candela, A. Goel, E. Kramer, H. Nayar, L. Fesq, and J. W. Burdick, AI Space Cortex: An Experimental System for Future Era Space Exploration, IEEE Transactions on Field Robotics, 2025. Paper
  7. E. Daş, J. W. Burdick, Robust Control Barrier Functions using Uncertainty Estimation with Application to Mobile Robots, IEEE Transactions on Automatic Control (TAC), 2025. Paper
  8. E. Daş, A. D. Ames, and J. W. Burdick, Rollover Prevention for Mobile Robots With Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety, IEEE Control Systems Letters (L-CSS), 2024. Paper
  9. A. Alan, T. G. Molnar, E. Daş, A. D. Ames, and G. Orosz, Disturbance Observers for Robust Safety-Critical Control with Control Barrier Functions, IEEE Control Systems Letters, 2022. Paper
  10. E. Daş, Combined Design of Robust Controller and Disturbance Observer in a Fixed-Order \(\mathcal{H}_\infty\) Control Framework, Mechatronics, 2022. Paper
  11. E. Daş, S. C. Baslamisli, Two Degree of Freedom Robust Data-Driven Fixed-Order Controller Synthesis Using Convex Optimization, ISA Transactions, 2021. Paper
  12. E. Daş, S. C. Baslamisli, Robust Data-Driven Fixed-Order Controller Synthesis: Model Matching Approach, IET Control Theory & Applications, 2021. Paper
  13. E. Daş, S. C. Baslamisli, Data-Driven Fixed-Order \(\mathcal{H}_\infty\) Controller Synthesis in Frequency Domain: Closed-Loop System Approach, Transactions of the Institute of Measurement and Control, 2021. Paper
  14. E. Daş, M. Keles, and I. I. Delice, Analysis and Robust Position Control of an Electromechanical Control Actuation System, Transactions of the Institute of Measurement and Control, 2021. Paper
  15. R. Keskin, I. Aliskan, E. Daş, Robust Type-III Controller Synthesis for Interleaved Boost Converters Using \(\mathcal{H}_\infty\) Control Method, Transactions of the Institute of Measurement and Control, 2021. Paper
  16. R. Keskin, I. Aliskan, E. Daş, Robust Fixed-Order \(\mathcal{H}_\infty\) Controller Synthesis for Multi-Phase Converters with Input Voltage Feed-Forward, Journal of the Franklin Institute, 2021. Paper

Conference Papers

  1. E. Sayar, E. Daş, J. W. Burdick, A. Knoll, and E. Kayacan, D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026.
  2. P. Mestres, S. S. Mousavi, P. Ong, L. Yang, E. Daş, J. W. Burdick, and A. D. Ames, Explicit Control Barrier Function-based Safety Filters and their Resource-Aware Computation, IFAC World Congress, 2026. Paper, code
  3. E. Daş, W. A. Welch, P. Spieler, K. Albee, A. Noca, J. Edlund, J. Becktor, T. Touma, J. Todd, S. Bhamidipati, S. Kombo, M. Saboia, A. Sabel, G. Lim, R. Thakker, A. Rahmani, and J. W. Burdick, Safe Payload Transfer with Ship-Mounted Cranes: A Robust Model Predictive Control Approach, IEEE International Conference on Robotics and Automation (ICRA), 2026. Paper
  4. D. E.J. van Wijk, E. Daş, T. G. Molnar, A. D. Ames, and J. W. Burdick, Safety-Critical Control with Bounded Inputs: A Closed-Form Solution for Backup Control Barrier Functions, American Control Conference (ACC), 2026. Paper, code
  5. E. Daş, T. Touma, J. W. Burdick, Bayesian Optimal Experimental Design for Robot Kinematic Calibration, IEEE International Conference on Robotics and Automation (ICRA), 2025. Paper
  6. X. Tan, E. Daş, A. D. Ames, and J. W. Burdick, Zero-order Control Barrier Functions for Sampled-Data Systems with State and Input Dependent Safety Constraints, American Control Conference (ACC), 2025. Paper, code
  7. Y. Kim, E. Daş, J. Kim, A. D. Ames, J. W. Burdick, and C. Sloth, Minimizing Conservatism in Safety-Critical Control for Input-Delayed Systems via Adaptive Delay Estimation, European Control Conference (ECC), 2025. Paper
  8. N. C. Janwani, E. Daş, T. Touma, S. X. Wei, T. G. Molnar, and J. W. Burdick, A Learning-Based Framework for Safe Human-Robot Collaboration with Multiple Backup Control Barrier Functions, IEEE International Conference on Robotics and Automation (ICRA), 2024. Paper Video
  9. E. Daş, R. M. Murray, Robust Safe Control Synthesis with Disturbance Observer-Based Control Barrier Functions, IEEE 61st Conference on Decision and Control (CDC), 2022. Paper
  10. E. Daş, J. W. Burdick, An Active Learning Based Robot Kinematic Calibration Framework Using Gaussian Processes, IEEE International Conference on Robotics and Automation (ICRA), 2023. Paper
  11. T. Touma, E. Daş, J. W. Burdick, E. B., Clark, R. Mackey, M. S., Feather, L. M., Fesq, K. O., Kolcio, and M. Prather, Towards Robust, Resilient Ocean World Science Sampling Systems, IEEE Aerospace Conference, 2023. Paper
  12. R. Keskin, I. Aliskan, E. Daş, Robust n-DOF \(\mathcal{H}_\infty\) Feed-Forward Control of Multi-Phase Converters for Electric Vehicles, International Conference on Electrical and Electronics Engineering (ELECO), 2021. Paper
  13. R. Keskin, I. Aliskan, E. Daş, Multi-Variable Modeling and System Identification of an Interleaved Boost Converter, International Conference on Electrical and Electronics Engineering (ELECO), 2021. Paper