Souradip De

• Indian Institute of Technology Kanpur

In the existing literature on the robust control design of UAV systems, the controllers are designed without considering motor dynamics. Hence, if these controller gains are not correctly tuned, the system undergoes oscillation and may even go unstable. We have demonstrated this through an experiment in this work. Here, we propose a novel control s...

The multi-agent rendezvous problem for single- and double-integrator agents in the presence of unknown constant input and communication delays is investigated in this paper. Existing works address the rendezvous problem by incorporating negative gain(s) into the distributed consensus protocol and showing that negative gain(s) expands the reachable...

This paper investigates the synchronization problem for generic linear multi-agent systems with known or unknown heterogeneous input and communication delays. We propose two protocols that consist of consensus-based internal controller states and decentralized controllers. This kind of distributed dynamic control methodology is able to circumvent t...

The existing techniques solve the rendezvous problem and characterize the final convergence point in the absence or presence of homogeneous input/communication delays. In this article, we analyze the rendezvous problem of double-integrator multi-agent system (MAS) in the presence of heterogeneous input and communication delays. We employ cyclic pur...

This paper focuses on the consensus tracking problem for a group of single-integrator agents with heterogeneous communication and input delays, with the goal of achieving the maximum exponential convergence rate. Existing research discusses a tracking protocol consisting of a consensus-based estimator and a tracking controller for each agent, as we...

In an ac microgrid, reactive power sharing accuracy is affected due to unequal values of interconnecting cable impedances. To resolve this issue, secondary controllers are used to compensate the effect of cable impedances. Various types of secondary controllers are suggested in the literature which includes linear proportional plus integral (PI) co...

In an ac microgrid, reactive power sharing accuracy is affected due to unequal values of interconnectingcable impedances. To resolve this issue, secondary controllers are used to compensate the effect ofcable impedances. Various types of secondary controllers are suggested in the literature which includeslinear proportional plus integral (PI) contr...

We study the bounded consensus tracking problem for the heterogeneous multiagent system composed of single- and double-integrator agents in the presence of diverse communication and input delays. The objective is to ensure bounded tracking when only a portion of agents has access to the desired trajectory while agents interact with each other throu...

A battery energy storage system (BESS) can play a critical role in regulating system frequency and voltage in an islanded microgrid. A $\mu$ -synthesis-based robust control has been proposed for dc link voltage regulation of BESS for achieving frequency regulation and voltage quality enhancement of islanded microgrid. Variation in the operating c...

The connection of nonlinear constant power loads (CPL) in a low power dc system leads to a reduction in the stability margin of the system. Most of the existing techniques increase the stability margin by modifying the controller for CPL or source converter at the cost of deterioration in the performance of converters. Few publications have suggest...

This article studies the consensus tracking problem for a group of double-integrator agents in the presence of heterogeneous communication and input delays. We consider a tracking protocol comprising a consensus-based estimator for the desired trajectory with a simple tracking controller for each agent, which ensures bounded tracking under input de...

Distributed secondary controllers in dc microgrid are used for low voltage regulation and proportional current sharing among the source converters. These controllers depend on the calculation of global average of the source voltages and ideal value of the current that each source must share. These values are usually calculated using an all-to-all c...

Distributed secondary controllers in dc microgrid are used for low voltage regulation and proportional current sharing among the source converters. These controllers depend on the calculation of global average of the source voltages and ideal value of the current that each source must share. These values are usually calculated using an all-to-all c...

In this paper, we present a consensus strategy based on cyclic pursuit which ensures rendezvous at any desired point in two-dimensional space ( ${\mathbb{R}^{2}}$ reachability) starting with any nonsingular initial configuration of the agents. Choice of a negative gain expands the reachable set beyond the convex hull of the initial configuration o...

In this paper, we address the multi-agent rendezvous problem for a group of single-integrator agents in the presence of a constant arbitrarily large bounded homogeneous communication delay. The agents are required to meet at a tunable desired point, which is unknown to all agents. To achieve this objective, we choose the cyclic pursuit strategy whi...

The sources, interfaced with the microgrid using power electronic converters have inherently low physical inertia. With step variation in load demand, voltage and frequency difference are created among the sources during transient and the low frequency oscillations appear in the power supplied through the interconnecting lines. This may even lead t...

In this paper we present a protocol to track a general trajectory for a multi-agent system in the presence of heterogeneous constant finite input delays. We consider two different multi-agent cases: agents with single-integrator and double-integrator dynamics. For the single-integrator case, we assume that the velocity along the desired trajectory...

In this paper, a distributed protocol is proposed to solve the consensus tracking problem under heterogeneous input and communication delays. In contrast to consensus which can be achieved even without knowledge of the communication delay, tracking a general trajectory requires precise information about the individual delays. The proposed protocol...

In this paper, the effect of homogeneous input delay on rendezvous of a group of agents under cyclic pursuit strategy is investigated. Presence of negative controller gain(s) aids in expanding the reachable set. It is found that at most one negative controller gain is possible for all the agents to converge under delayed condition. In contrast to a...