Ashutosh Simha

Ashutosh Simha
Delft University of Technology | TU · Faculty of Electrical Engineering, Mathematics and Computer Sciences (EEMCS)

PhD

About

21
Publications
1,753
Reads
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53
Citations
Citations since 2016
21 Research Items
53 Citations
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Introduction
Ashutosh Simha currently works as a Post-doctoral researcher at TUDelft, Netherlands. He previously worked at the Institute of Cybernetics, Tallinn, Estonia. He completed his PhD at the Indian Institute of Science, Bangalore, in the field of Geometric control theory. His research interests are in geometric control, teleoperated robots, UAVs, and amphibious robots.

Publications

Publications (21)
Article
In this letter, we present Hermes – a novel, low-cost, wireless, batteryless, energy harvesting system for aerial vehicles for sensing wind speed and Angle of Attack (AoA) concurrently. Hermes comprises a set of piezoelectric films which flutter due to incoming wind and the characteristics of this aeroelastic flutter are utilized for determinin...
Article
We design a reduced attitude controller for reorienting the spin axis of a gyroscope in a geometric control framework. The proposed controller preserves the inherent gyroscopic stability associated with a spinning axis-symmetric rigid body. The equations of motion are derived in two frames: a non-spinning frame to show the gyroscopic stability, and...
Preprint
We design a reduced attitude controller for reorienting the spin axis of a gyroscope in a geometric control framework. The proposed controller preserves the inherent gyroscopic stability associated with a spinning axis-symmetric rigid body. The equations of motion are derived in two frames: a non-spinning frame to show the gyroscopic stability, and...
Article
The paper addresses the problem of checking the accessibility property for nonlinear single-input single-output retarded time-delay systems with constant commensurable delays, described by higher order input output functional differential equations. Necessary and sufficient conditions are found to check the accessibility property, and sufficient co...
Preprint
In this short note we model the region-wise trends of the evolution to COVID-19 infections using a stochastic SIR model. The SIR dynamics are expressed using \textit{It\^o-stochastic differential equations}. We first derive the parameters of the model from the available daily data from European regions based on a 24-day history of infections, recov...
Article
Full-text available
This paper presents a novel design of an oscillatory fin for thrust-efficient and agile underwater robotic locomotion. We propose a flat paddle-fin comprising a set of overlapping cascaded soft flaps that open in one half of the stroke cycle and close in the other. Consequently, asymmetry in the lateral drag force exerted by the fin during oscillat...
Conference Paper
Compliant fish-like robots are being developed as efficient and dependable underwater observation platforms with low impact on the observed environment. Orientation control is an essential building block to achieve autonomy for those vehicles. So far, the major focus has been on rigid tails or on flexible tails with a high degree of actuation. We p...
Article
The problem of transforming a single-output, nonlinear state equations affine in disturbances into an extended observer form using a state diffeomorphism is addressed. The dynamics of this form consists of a linear component in the dual-Brunovsky observer canonical form, and a nonlinear output-injection term which is affine in the disturbance, and...
Article
The problem of trajectory tracking for nonlinear differentially flat systems is addressed in the paper. A novel event-based control methodology is developed for systems depending on unmeasurable disturbances. A standard flatness-based feedforward control is applied when the flat outputs are close to their desired values. If the error becomes too la...
Article
The problem of designing coordinate-invariant output tracking control laws for nonholonomic mechanical systems is addressed. The velocity constrained Euler-Lagrange equations of motion are expressed through a constrained affine connection which is compatible with the kinetic energy Riemannian metric. This formalism is used in designing an output tr...
Conference Paper
The paper addresses the problem of transforming single-output continuous and discrete-time nonlinear dynamical systems into their respective extended observer forms. The output injection term in the extended observer form of degree I depends, besides on the output also on its first I derivatives (in the continuous-time case) or first I past values...
Article
Full-text available
This paper deals with designing a harvesting control strategy for a predator–prey dynamical system, with parametric uncertainties and exogenous disturbances. A feedback control law for the harvesting rate of the predator is formulated such that the population dynamics is asymptotically stabilized at a positive operating point, while maintaining a p...
Article
This paper presents a coordinate-free trajectory tracking control design for the nonlinear dynamics of a variable pitch quadrotor. Unlike conventional quadrotors, the rotor thrust is varied by changing its blade pitch angle as opposed to its RPM. It has been shown that such an actuation mechanism has a very high control bandwidth and is capable of...
Article
Full-text available
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular velocity and orientation about the vertical body axis. The proposed controller enables the quadrotor to track t...
Article
Full-text available
An adaptive control law has been designed for robust attitude tracking of a spacecraft with uncertain inertia matrix, torque coupling coefficients and exogenous disturbances. The strict block feedback structure of the attitude dynamics is exploited in designing a back stepping control law, which depends on a compensator variable whose dynamics is d...
Conference Paper
We propose an adaptive attitude control for a spherical drone, having one propeller and four control surfaces mounted on orthogonal discs. The attitude motions are produced due to deflections of the flaps, in the slip stream of the propeller induced airflow. A coordinate-free (geometric) control law is developed to eliminate configurational singula...

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Project (1)
Project
Design of globally exponentially stable tracking controllers for fully actuated Lagrangian mechanics on compact, analytic Riemannian manifolds. a) Generic approach to construct error functions and compatible transport maps on any compact manifold. b) Study global properties of geodesic flows on compact manifolds c) Design feedback control law with exogenous dynamic precompensator for global exponential stability.