6 accepted papers
Quadrotors find a vast potential use in delivery and disaster relief operations. Control becomes critical in such scenarios, especially when quadrotors have to manoeuvre through constrained spaces or deliver payloads at precise locations in the presence of external disturbances and parametric uncert
In recent times, quadrotors have become immensely applicable in scenarios such as relief operations, infrastructure maintenance, search-and-rescue missions etc. A key control design challenge arises in these applications when the quadrotor has to manoeuvre through constrained spaces such as narrow w…
The focus of this paper is (i) to derive a suitable dynamic model for a self-reconfigurable pavement sweeping robot PANTHERA and (ii) to design a robust controller for the same to tackle uncertainties stemming from the reconfiguration process, external disturbances and from actuator saturation. To m…
With the advent of intelligent transport, quadrotors are becoming an attractive aerial transport solution during emergency evacuations, construction works etc. During such operations, dynamic variations in (possibly unknown) payload and unknown external disturbances cause considerable control challe…
This letter addresses the various practical design issues of a continuous-time time-delayed control (TDC) and proposes a new controller to make the TDC more suitable and applicable for real-life systems. While TDC has been renowned for its robust performance and simplicity in form, it requires state
A new adaptive robust control strategy, christened as Adaptive Time-delayed Robust Control (ATRC) is presented in this paper for trajectory tracking control of a class of Euler-Lagrange systems subjected to uncertainties with unknown bounds. The adaptive law to compute the switching gain of the conv