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Publications (91)
Mobile wheeled inverted pendulum mechanical models are benchmark underactuated dynamical systems with inherently unstable dynamics and pose a difficult challenge to control with desired accuracy. This paper seeks to achieve an efficient control scheme based on the notion of sliding modes to achieve the desired response under perturbations. In this...
This paper focuses on simple heave dynamics of helicopter UAV for autonomous operations to achieve efficient control scheme based on sliding mode methodology for accurate altitude tracking under both matched and unmatched distur-bances. Under fast changing dynamics of the UAV, a control law is developed that provides robustness against uncertaintie...
This paper seeks to develop simple yet efficient modelling and control scheme for robotic manipulators in joint space wherein a control law is developed based on sliding mode that provides robustness against uncertainties and perturbations and a stability analysis guarantees the asymptotic stability of origin. Given the bounds of disturbance and a...
In this paper, we address the problem of enclosing an arbitrarily moving target in three dimensions by a single pursuer while ensuring the pursuer’s safety by preventing collisions with the target. The proposed guidance strategy steers the pursuer to a safe region of space surrounding and excluding the target, allowing it to maintain a certain dist...
In this paper, we propose an adaptive event-triggered reinforcement learning control for continuous-time nonlinear systems, subject to bounded uncertainties, characterized by complex interactions. Specifically, the proposed method is capable of jointly learning both the control policy and the communication policy, thereby reducing the number of par...
In this paper, we consider the tracking of arbitrary curvilinear geometric paths in three-dimensional output spaces of unmanned aerial vehicles (UAVs) without pre-specified timing requirements, commonly referred to as path-following problems, subjected to bounded inputs. Specifically, we propose a novel nonlinear path-following guidance law for a U...
This paper addresses the time-critical rendezvous problem for a pursuing autonomous unmanned vehicle, e.g., an unmanned aerial vehicle (UAV), guided using the concept of true proportional-navigation guidance, which is a variant of proportional-navigation guidance. In existing vehicle routing and flight time-constrained guidance techniques, specific...
In this paper, we propose a new formation scheme for a leader-follower unmanned aerial vehicle (UAV) system inspired by a human pilot's behavior wherein the formation geometry does not necessarily remain fixed as the vehicles maneuver. In other words, the position and the orientation of the follower with respect to the leader are subject to change...
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider spatial constraints, the proposed strategy considers spatial constraints on each degree of freedom movement of the...
This paper presents a novel nonlinear guidance law for an autonomous unmanned aerial vehicle (UAV) that enables it to track any predefined path while taking into account wind effects. The approach involves treating the desired path as the trajectory of the virtual target, which the UAV tracks without relying on knowledge of the path's curvature. Th...
In this paper, we address the problem of enclosing an arbitrarily moving target in three dimensions by a single pursuer, which is an unmanned aerial vehicle (UAV), for maximum coverage while also ensuring the pursuer's safety by preventing collisions with the target. The proposed guidance strategy steers the pursuer to a safe region of space surrou...
This paper introduces an approach to address the target enclosing problem using non-holonomic multiagent systems, where agents autonomously self-organize themselves in the desired formation around a fixed target. Our approach combines global enclosing behavior and local collision avoidance mechanisms by devising a novel potential function and slidi...
This paper presents a new reinforcement learning approach that leverages failed experiences in sparse reward environments. Unlike traditional reinforcement learning methods that rely on successful experiences or expert demonstrations, the proposed approach utilizes failed experiences to guide the policy update during the learning process. The prima...
This paper addresses the pursuit-evasion problem involving three agents- a purser, an evader, and a defender. We develop cooperative guidance laws for the evader-defender team that guarantee that the defender intercepts the pursuer before it reaches the vicinity of the evader. Unlike heuristic methods, optimal control, differential game formulation...
This paper introduces an approach to address the target enclosing problem using non-holonomic multiagent systems, where agents self-organize on the enclosing shape around a fixed target. In our approach, agents independently move toward the desired enclosing geometry when apart and activate the collision avoidance mechanism when a collision is immi...
This paper presents a target enclosing guidance law for an autonomous vehicle to enclose a stationary target within arbitrary smooth geometrical shapes or patterns in three dimensions (3D), thereby presenting a generic guidance strategy for target enclosing behavior. We particularly focus on designing a target enclosing strategy wherein the vehicle...
In this paper, we address the issue of fairness in preference-based reinforcement learning (PbRL) in the presence of multiple objectives. The main objective is to design control policies that can optimize multiple objectives while treating each objective fairly. Toward this objective, we design a new fairness-induced preference-based reinforcement...
This paper addresses the path-following problem of an unmanned aerial vehicle (UAV). In particular, we propose to design a feedback controller that guarantees that the UAV tracks its desired path in the absence of information about the path curvature. Moreover, the proposed method does not need to track a moving virtual target on the desired path,...
This paper deals with designing a three-dimensional impact time guidance strategy to intercept a constant speed, non-maneuvering adversary. We propose to design the guidance law without decoupling the three-dimensional engagement into separate planar ones, thus preserving the inherent coupling between the pitch and the yaw planes. Consequently, the...
This paper addresses the separate guidance and control design for an unmanned aerial vehicle (UAV) to follow the desired path with arbitrary curvature. The proposed design is appealing since it neither requires the information about the path curvature to be implemented nor necessitates tracking a moving virtual target. Such a feature makes our desi...
In this work, we address the problem of circumnavigating a stationary target using a single vehicle. Unlike most existing results wherein the target is encircled in a two-dimensional plane, we focus on devising a guidance strategy that enables a vehicle to encircle a target in a three-dimensional space using the relative information between the veh...
We propose predefined-time consensus-based cooperative guidance laws for a swarm of interceptors to simultaneously capture a target capable of executing various kinds of motions. Unlike leader-follower cooperative guidance techniques, the swarm of interceptors has no leader and each interceptor executes its own guidance command in a distributive fa...
This paper considers a pursuit-evasion scenario among three agents-- an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team to safeguard the evader from an attacking pursuer. Unlike differential games, optimal control formulations, and other heuristic methods, we propose a novel perspective on...
In this paper, a nonlinear impact time constrained three-dimensional guidance strategy to intercept a stationary target is proposed. The guidance strategy is based on non-singular terminal sliding mode control that uses an improved time-to-go estimate in the design process, thereby provisioning for the interceptor’s large heading angle errors. Unli...
In this work, we design a nonlinear controller for an autonomous unmanned aerial vehicle (UAV) to follow a predefined trajectory. The UAV is made to follow the desired path by driving the UAV’s relative distance to the path, and its look angle to zero. The proposed design is easy to implement as it does not need path curvature information and uses...
This paper addresses the separate guidance and control design for an unmanned aerial vehicle (UAV) to follow the desired path with arbitrary curvature. The proposed design is appealing since it neither requires the information about the path curvature to be implemented nor necessitates tracking a moving virtual target. Such a feature makes our desi...
In this work, we address the problem of an angle-constrained interception within an integrated guidance and control framework. We consider a dual-controlled interceptor (an interceptor equipped with canard and tail aerodynamic control surfaces), and design
fin deflection commands directly to effect the lateral
acceleration required to steer the int...
This paper presents predefined-time consensus-based
cooperative guidance laws for a swarm of interceptors to
simultaneously capture a non-maneuvering target. Unlike
leader-follower cooperative guidance techniques, the swarm
of interceptors has no leader and each interceptor executes
its own distributed cooperative guidance command. This
obviates th...
This work proposes two different cooperative integrated guidance and control schemes for a group of interceptors, each steered by combined effects of canard and tail aerodynamic surfaces, aiming a simultaneous interception of a non-maneuvering target. The first approach is based on a leader-follower framework, in which the time of interception can...
This work proposes fixed-time convergent cooperative guidance strategy for target-defender team against the incoming threat of an attacker. The target lures the attacker on a collision course by nullifying its line-of-sight rate with respect to the attacker, thereby presenting itself as a bait. At each instant, the target also sends the information...
We propose predefined-time consensus-based cooperative guidance laws for a swarm of interceptors to simultaneously capture a target capable of executing various kinds of motions. Unlike leader-follower cooperative guidance techniques, the swarm of interceptors has no leader and each interceptor executes its own guidance command in a distributive fa...
This paper considers a pursuit-evasion scenario among three agents - an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team to safeguard the evader from an attacking pursuer. Unlike differential games, optimal control formulations, and other heuristic methods, we propose a novel perspective on...
This paper proposes integrated guidance and control design to intercept a target, which may execute various motions, at a pre-specified time of interception. The problem is addressed considering nonlinear engagement kinematics and the interceptor is steered using the combined effects of canard as well as tail configurations (dual-controlled interce...
This paper deals with nonsingular guidance and control design for an interceptor, using a decoupled approach, steered by the combined effects of both canard and tail, to intercept a moving but non-maneuvering target at a time specified a priori. First, the interceptor's desired lateral acceleration, consisting of nominal and corrective components,...
This paper focuses on an integrated guidance and control design for interceptors equipped with dual aerodynamic control surfaces (both canard as well as tail) to intercept a stationary target at a time specified a priori. The problem addressed in this work is treated in nonlinear settings, allowing the proposed design to remain effective for arbitr...
This work proposes two different three-dimensional (3D) cooperative guidance strategies for a group of interceptors aiming a simultaneous interception of a stationary target. The guidance commands for the many-to-one engagement scenario are derived considering nonlinear engagement kinematics and an improved time-to-go estimate that takes the interc...
This paper proposes a three-dimensional, nonlinear guidance strategy for terminal time constrained interception of a non-maneuvering target. The restrictive assumption of decoupling the three-dimensional interceptor-target engagement into two separate mutually orthogonal planes, is relaxed. The guidance commands are derived using sliding mode contr...
This work focuses on achieving cooperative simultaneous interception against moving targets using the concepts of deviated pursuit guidance strategy. Unlike most existing salvo guidance strategies which use estimates of time-to-go, based on proportional navigation guidance, the present strategy uses exact expression for time-to-go to ensure simulta...
This work addresses the problem of designing an impact time constrained guidance strategy for three-dimensional engagements, without decoupling the engagement dynamics in two mutually orthogonal planes. The guidance command is derived while considering nonlinear engagement dynamics, and with a time-to-go prediction that accounts for the interceptor...
This paper proposes integrated guidance and control design to intercept a non-maneuvering target at a pre-specified time of interception. The problem is addressed considering nonlinear engagement kinematics and the interceptor is steered using the combined effects of canard as well as tail configurations (dual control interceptors). Different formu...
This paper proposes integrated guidance and control design to intercept a non-maneuvering target at a pre-specified time of interception. The problem is addressed considering nonlinear engagement kinematics and the interceptor is steered using the combined effects of canard as well as tail configurations (dual control interceptors). Different formu...
This paper proposes two finite-time convergent guidance schemes to intercept a constant velocity target at a pre-specified impact-time. The guidance commands exploit the archetype of deviated pursuit scheme to facilitate the synthesis of impact-time constrained guidance strategies. Deviated pursuit guidance offers an exact expression of time-to-go,...
This paper proposes a leader-follower cooperative salvo guidance strategy to intercept non-maneuvering targets by exploiting the advantages of super-twisting sliding mode control. An improved estimate of time-to-go, that does not assume interceptor's small heading angle, is used in the guidance design. This allows the guidance strategy to remain ef...
In this paper, a second-order sliding mode control based guidance strategy to intercept different kinds of targets is proposed. Contrary to many existing strategies, no small angle assumption has been made in obtaining the time-to-go estimates and derivation of the guidance command, which allows the proposed guidance strategy to remain effective ev...
This work focuses on devising cooperative salvo guidance strategies to intercept both moving and stationary targets. Salvo attack aids in overcoming the disadvantages associated with one-to-one engagement, such as countering close-in-weapon systems. The proposed cooperative guidance strategy considers a nonlinear engagement dynamics as well as a ti...
The ever‐increasing service demand from wireless users under restricted bandwidth necessitates the development of suitable congestion control scheme for throughput maximization. A robust congestion controller design has been addressed in this work to sustain necessary Quality of Service in Cognitive Radio Network. The goal is to reduce packet loss...
With advancements in mobile robot olfaction, networked Multiagent Systems (MAS) are used in odour source localisation. These MAS are often equipped with small microprocessors that have limited computing capabilities, and they usually operate in bandwidth and energy constrained environment. The exigent need for faster localising algorithm under comm...
This article is aimed at solving leader following consensus problem with an event-based sliding mode controller. The proposed control technique is partitioned into two parts-- a finite time consensus problem and an event-based control mechanism. Leader following heterogeneous multi agents of first order having inherent nonlinear dynamics have been...
This work targets the problem of leader following consensus in heterogeneous multi-agent systems described by second order nonlinear dynamics. The controller proposed in the study is an event-based sliding mode controller. Synthesis of the controller has been partitioned into two parts-- a finite time consensus problem and an event-based control me...
Continuous Stirred Tank Reactors (CSTR) are the most important and central equipment in many chemical and biochemical industry that exhibit second order complex nonlinear dynamics. The nonlinear dynamics of CSTR poses many design and control challenges. The proposed controller guarantees a stable closed loop behavior over multiple operating points...
This paper presents an investigation of the task of localizing an unknown source of an odor by heterogeneous multiagent systems. A hierarchical cooperative control strategy has been proposed as a potential candidate to solve the problem. The agents are driven into consensus as soon as the information about the location of source is acquired. The co...
Continuous Stirred Tank Reactor (CSTR) is a typical example of an industrial equipment for chemical processes that exhibit dynamics of a second order nonlinear system. Nonlinear and coupled nature of CSTR pose challenges in design of robust control with larger operating region. Industrial processes require good state estimation and disturbance reje...
Inspiration of odor source localization problem stems from behavior of biological entities such as mate seeking by moths, foraging by lobsters, prey tracking by mosquitoes and blue crabs, etc., and is aimed at locating the source of a volatile chemical. These behaviors have long been mimicked by autonomous robot(s). Chemical source tracking has att...
Continuous Stirred Tank Reactor (CSTR) is a typical example of an industrial equipment
for chemical processes that exhibit dynamics of a second order nonlinear system. Nonlinear and coupled nature of CSTR pose challenges in design of robust control with larger operating region. Industrial processes require good state estimation and disturbance reje...
This paper presents an investigation of the task of localising unknown source of an odour by heterogeneous multiagent systems. A hierarchical cooperative control strategy has been proposed as a potential candidate to solve the problem. The agents are driven into consensus as soon as the information about the location of source is acquired. The cont...
This article is aimed at solving leader following consensus problem with an event-based sliding mode controller. The proposed control technique is partitioned into two parts- a finite time consensus problem and an event-based control mechanism. Leader following heterogeneous multi agents of first order having inherent nonlinear dynamics have been a...
In this work, leader follower consensus objective has been addressed with the synthesis of an event based controller utilizing sliding mode robust control. The schema has been partitioned into two parts viz. finite time consensus problem and event triggered control mechanism. A nonlinear multi agent system with non identical dynamics has been put f...
This work targets the problem of odor source localization by multi-agent systems. A hierarchical cooperative control has been put forward to solve the problem of locating source of an odor by driving the agents in consensus when at least one agent obtains information about location of the source. Synthesis of the proposed controller has been carrie...
This work targets the problem of leader following consensus in heterogeneous multi-agent systems described by second order nonlinear dynamics. The proposed controller in the study is an event based sliding mode controller. Synthesis of the controller has been partitioned into two parts-a finite time consensus problem and an event based control mech...
Under the constraints of limited bandwidth and exponentially rising user demand, there is a dire need to maximize throughput. Maintaining Quality of Service (QoS) in a communication network demands congestion control with high accuracy. This paper focuses on this challenging task that incorporates design of effective congestion controller to reduce...
Continuous Stirred Tank Reactor (CSTR) is a typical example of an industrial equipment for chemical processes that exhibit dynamics of a second order nonlinear system. Nonlinear and coupled nature of CSTR poses challenge in design of robust control with larger operating region. Industrial processes require good state estimation and disturbance reje...
Under the constraints of limited bandwidth and exponentially rising user demand, there is a dire need to maximize throughput. Maintaining Quality of Service (QoS) in a communication network demands congestion control with high accuracy. This paper focuses on this challenging task that incorporates design of effective congestion controller to reduce...
This paper seeks to achieve simple, yet efficient modelling and control scheme for a permanent magnet stepper motor wherein a control law is developed based on sliding mode that provides robustness against uncertainties, parameter variations and perturbations for accurate trajectory tracking of motor position and current. The stability analysis gua...
This paper focuses on simple heave dynamics of helicopter UAV for autonomous operations to achieve efficient control scheme based on sliding mode methodology for accurate altitude tracking under both matched and unmatched disturbances. Under fast changing dynamics of the UAV, a control law is developed that provides robustness against uncertainties...
Under the constraints of limited bandwidth and exponentially rising user demand, there is a dire need to maximize throughput. Maintaining Quality of Service (QoS) in a communication network demands congestion control with high accuracy. This paper focuses on this challenging task that incorporates design of effective congestion controller to reduce...
This paper seeks to achieve an efficient control scheme that can be applied to industrial pick and place robotic manipulators. The mathematical model of this industrial pick and place system is based on the concept of an inverted pendulum on a moving cart whose movement is restricted in horizontal direction. Inverted pendulum systems are often used...
Environment monitoring systems of today need to be robust and accurate owing to the unpredictability of possible deployment scenarios. So, external disturbances on the sensor should be taken into account in such cases. This paper presents an automatic calibration technique for industrial sensors based on rational interpolation where the system itse...
Environment monitoring systems of today need to be robust and accurate owing to the unpredictability of possible deployment scenarios. So, external disturbances on the sensor should be taken into account in such cases. This paper presents an automatic calibration technique for industrial sensors based on rational interpolation where the system itse...
Questions
Question (1)
I am trying to implement different switching hyperplanes using sliding mode methodology and several times the calculations become so cumbersome that it requires some transformations.
Please suggest a way to transform such equations to equivalent companion form.