Publications

Book Chapters
  1. Abraham P Vinod and Arun D Mahindrakar, "Deterministic Attitude Estimation", Chapter 13 of the book Multisensor Attitude Estimation: Fundamental Concepts and Applications, Edited by Fourati Hassen and Belkhiat Djamel Eddine Chouaib CRC Press 2016, Print ISBN: 978-1-4987-4571-0, eBook ISBN: 978-1-4987-4580-2
Journals
  1. Akshit Saradagi, Vijay Muralidharan, Arun D. Mahindrakar, Pavankumar ,``Event-triggered Control for Nonlinear Systems with Center Manifolds", to appear in IEEE Transactions on Automatic Control
  2. Rama Seshan Chandrasekaran, Ravi Banavar, Arun D. Mahindrakar and D. H. S. Maithripala,``Geometric PID Controller for Stabilization of Nonholonomic Mechanical Systems on Lie Groups", to appear in Automatica.
  3. Rejitha R, Arun D. Mahindrakar and Umesh Vaidya, "Dynamical System Approach for Time-Varying Constrained Convex Optimization Problems", to appear in IEEE Transactions on Automatic Control
  4. Anik Kumar Paul, Arun D Mahindrakar and Rachel K Kalaimani ," Robust Analysis of Almost Sure Convergence of Zeroth-Order Mirror Descent Algorithm", IEEE Control Systems Letters, Vol. 7, pp. 1933-1938, 2023
  5. Rejitha R, Arun D Mahindrakar and Umesh Vaidya," Non-smooth Projected Primal-Dual Dynamical Approach to Solve the Extended Fermat-Torricelli Problem", IEEE Control Systems Letters, Vol. 5, N0. 3, pp. 1109-1114, 2020
  6. Sreeshma Markkassery, Akshit Saradagi, Arun D Mahindrakar, Ramkrishna Pasumarthy and Lakshminarasamma N," Modelling, Design and Control of Non-isolated Single-input Multi-output Zeta-Buck-Boost Converter", IEEE Transactions on Industry Applications, Vol. 56, No. 4, pp. 3904-3918, 2020
  7. Mundla Narasimhappa, Arun D. Mahindrakar, Vitor Campagnolo Guizilini, Marco Henrique Terra, and Samrat L. Sabat,``MEMS Based IMU Drift Minimization: Sage Husa Adaptive Robust Kalman Filtering", IEEE Sensors Journal,Vol. 20, No.1, pp. 250-260, Jan. 2020
  8. Vijay Muralidharan, Arun D. Mahindrakar and Akshit Saradagi, "Control of driftless bilinear vector field on n-sphere", IEEE Transactions on Automatic Control, Vol. 64, No.8, pp. 3226-3238, August 2019
  9. Aniket Deshpande, Pushpak Jagtap, Prashant Bansode, and Arun D Mahindrakar and N. M. Singh, "Complex Laplacian-based distributed control for Multi-agent Network", Advances in Complex Systems, World Scientific, Vol 21, No. 5, 2018
  10. Akshit Saradagi, Vijay M, Vishaal Krishnan, Sandeep Menta and Arun D Mahindrakar, "Formation control and trajectory tracking of mobile inverted pendulum robots", IEEE Transactions on Control Systems Technology, Vol. 26, No.6, pp. 2250-2258, Nov. 2018
  11. Kruthika H A, Arun D Mahindrakar and Ramkrishna Pasumarthy, "Stability analysis of nonlinear time-delayed systems with application to biological models", International Journal of Applied Mathematics and Computer Science, Vol. 27, No.1, pp. 91-103, 2017
  12. Vijay Muralidharan and Arun D. Mahindrakar, "Geometric controllability and stabilization of spherical robot dynamics", IEEE Transactions on Automatic Control, Vol. 60, No.10, pp. 2762-2767, Oct. 2015
  13. Abraham P Vinod, Arun D. Mahindrakar, Sandipan Bandyopadhyay and Vijay Muralidharan, "A deterministic attitude estimation using a single vector information and rate gyros", IEEE/ASME Transactions on Mechatronics, Vol. 20, No.5,pp. 2630-2636, Oct. 2015
  14. Sai Pushpak N, Anup Ekbote and Arun D. Mahindrakar, "Semistability analysis of the Chaplygin sleigh and the nonsmooth mechanical oscillator", ASME Journal of Dynamic Systems, Measurement and Control. Vol. 136, No.3, May 2014
  15. Vijay Muralidharan and Arun D. Mahindrakar, "Position stabilization and waypoint tracking control of mobile inverted pendulum robot", IEEE Transactions on Control Systems Technology. Vol.22, No.6, Nov. 2014
  16. Ionnis Sarras, Jose A. Acosta, Romeo Ortega and Arun D. Mahindrakar, "Constructive Immersion and Invariance Stabilization for a Class of Underactuated Mechanical Systems", Automatica. Vol. 49, No.5, pp. 1442-1448, 2013 .
  17. V.Sankaranarayanan and Arun D. Mahindrakar, "Configuration Constrained Stabilization of a Wheeled Mobile Robot - Theory and Experiment", IEEE Transactions on Control Systems Technology. Vol. 21, No.1, pp. 275-280, Jan. 2013 .
  18. Maruthi T. Ravichandran and Arun D. Mahindrakar, "Robust stabilization of a class of underactuated mechanical systems using time-scaling and Lyapunov redesign", IEEE Transactions on Industrial Electronics, Vol. 58, No.9, pp. 4299-4313, Sept. 2011 .
  19. Leena Vachhani, Arun D. Mahindrakar and K. Sridharan, "Mobile Robot Navigation Through a Hardware- Efficient Implementation for Control-Law-Based Construction of Generalized Voronoi Diagram", IEEE/ASME Transactions on Mechatronics, Vol. 16, No.6, pp. 1083-1095, Dec. 2011 .
  20. Vijay Muralidharan , Arun D. Mahindrakar and S. Anantharaman, "Asymptotic Stabilization of the Ball and Beam System: Design of Energy-based Control law and Experimental Results", International Journal of Control, Vol. 83, No.6, pp. 1193-1198, June 2010 .
  21. V. Sankarnarayanan, Arun D. Mahindrakar and Abhilash P. M, "Output feedback second-order sliding mode control of the cart on a beam system.", International Journal of Robust and Nonlinear Control, Vol. 20, No.4, pp. 561-570, March 2010 .
  22. V. Sankarnarayanan and Arun D. Mahindrakar, "Control of a class of underactuated mechanical systems using sliding modes.", IEEE Transactions on Robotics, Vol. 25, No.2, pp. 459-467, April 2009.
  23. V. Sankarnarayanan and Arun D. Mahindrakar, "Switched Control of Nonholonomic Mobile Robot." Communications in Nonlinear Science and Numerical Simulations, Vol. 14, No.5, pp. 2319-2327, May 2009.
  24. V. Sankarnarayanan, Arun D. Mahindrakar and R. N. Banavar, "A switched controller for an underactuated underwater vehicle.", Communications in Nonlinear Science and Numerical Simulations, Vol. 13, No. 10, pp. 2266-2278, Dec. 2008.
  25. Arun D. Mahindrakar and V. Sankarnarayanan, "State constrained stablization of beam balance systems.", International Journal of Robust and Nonlinear Control, Vol. 18, No. 3, pp. 333-350, Feb. 2008.
  26. Arun D. Mahindrakar, Romeo Ortega, A. Astolfi and Giuseppe Viola, "Further constructive results on interconnection and damping assignment control of mechanical systems: The acrobot example", International Journal of Robust and Nonlinear Control, Vol. 16, No. 14, pp. 671-685, Sept. 2006.
  27. J. A. Acosta, Romeo Ortega, A. Astolfi and Arun D. Mahindrakar, "Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one", IEEE Transactions on Automatic Control, Vol. 50, No. 12, Dec. 2005
  28. Arun D. Mahindrakar, Shodhan Rao and R. N. Banavar, "Point-to-point control of a 2R planar horizontal underactuated manipulator", Journal of Mechanisms and Machine Theory., Vol. 41, No. 7, July-2006, pp. 834-844
  29. R. N. Banavar and Arun D. Mahindrakar, "A nonsmooth control law and time-optimality notions for the acrobot", International Journal of Control, Vol. 78, No. 15, Oct. 2005, pp. 1166-1173.
  30. Arun D. Mahindrakar and R. N. Banavar, "Swing-up of the acrobot based on pendulum analogy", International Journal of Control, Vol. 78, No. 6, April- 2005, pp. 424-429.
  31. Arun D. Mahindrakar, R. N. Banavar and Mahmut Reyhanoglu, "Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators", International Journal of Control, Vol. 78, No. 1, Jan. 2005, pp. 1-13.
Conferences
  1. Sowmya J and Arun D Mahindrakar, `` Modeling and Control of Single-Input Multi-Output DC-DC Converters in Port-Controlled Hamiltonian Framework", to appear in 2024 IEEE 4th International Conference on Sustainable Energy and Future Electric Transportation (IEEE SeFeT 2024) 31 July - 03 August, 2024, Hyderbad.
  2. Sravya Chakravartula and Arun D Mahindrakar, `` Non-Linear AIMD with Time-Varying Resource and Saturation Constraints", to appear 10th International Conference on Control, Decision and Information Technologies (CoDIT) (CoDIT 2024) to be held in Valletta, Malta on July 1-4, 2024 .
  3. Arvind Ragghav V, Muhammad Zaki Almuzakki, Bayu Jayawardhana and Arun Mahindrakar, `` Asymptotic Stabilization of Passive Nonlinear Systems with Finite Countable Control Actions: mixed switching – nearest action control approach", to appear 2024 European Control Conference, Stockholm, June 2024.
  4. Arvind Ragghav V and Arun D Mahindrakar, "First-Order Dynamic Quantized Consensus of Multi-Agent Systems", to appear in 9th Indian Control Conference, Vizag, India.
  5. Arvind Ragghav V and Arun D Mahindrakar, "First-Order Dynamic Quantized Consensus of Multi-Agent Systems", in 9th Indian Control Conference, Vizag, India, 18-20 Dec. 2023.
  6. Anik Kumar Paul, Arun D. Mahindrakar and Rachel K Kalaimani, "An Almost Sure Convergence Analysis of Zeroth-Order Mirror Descent Algorithm", in IEEE Control Systems Letters paper presented at 2023 American Control Conference (ACC) San Diego, CA, USA. May 31 - June 2, 2023. Rama Seshan, Ravi N Banavar and Arun D Mahindrakar
  7. Rejitha Raveendran, Arun D. Mahindrakar and Umesh Vaidya,"Fixed-Time Dynamical System Approach for Solving Time-Varying Convex Optimization Problems", in American Control Conference (ACC) Atlanta, USA, June 8-10, 2022.
  8. Anik Kumar Paul, Arun D. Mahindrakar and Rachel K Kalaimani, "Distributed Online Mirror Descent Algorithm with Event Triggered Communication",5th International Symposium on Mathematical Theory of Networks and Systems, 12-16 September 2022, Bayreuth, Germany
  9. Rama Seshan, Ravi N Banavar and Arun D Mahindrakar, "Geometric Second-Order Laplacian Flow for Consensus on Lie Groups", Runner-up, Best Student Paper Category, European Control Conference, July 15,2022.
  10. Bharat Manvi, Bharath Bhikkaji and Arun D Mahindrakar, ''Simultaneous Beamforming and Trajectory Tracking in a Multi-Agent Formation", in 29th Mediterranean Conference on Control and Automation (MED), June 22-25 2021, Bari, Puglia, Italy.
  11. Akshit Saradagi, Arun D. Mahindrakar and Pavan Tallapragada, " Event-triggered Stabilization of Nonlinear systems with Center Manifolds", in 59th IEEE Conference on Decision and Control (CDC) Jeju Island, Republic of Korea, December 14-18, 2020.
  12. Rejitha R, Arun D. Mahindrakar and Umesh Vaidya, " Non-smooth Projected Primal-Dual Dynamical Approach to Solve the Extended Fermat-Torricelli Problem", in 59th IEEE Conference on Decision and Control (CDC) Jeju Island, Republic of Korea, December 14-18, 2020.
  13. Omkar Vanjpe, Mundla Narasimhappa and Arun D. Mahindrakar, "Global attitude estimation and dead reckoning of a mobile spherical robot using extended Kalman filter", in the proceedings of the 4th International Conference of the Robotics Society on Advances in Robotics, IIT Madras, India, July 2-6, 2019.
  14. M. V. Surya Prakash, Arun D. Mahindrakar, Ramkrishna Pasumarthy, "Computation of outer approximation to reachable set for cooperative systems: Application to an epidemic spreading model ", in the proceedings of the 27th Mediterranean Conference on Control and Automation, Akko, Israel, July 1-4, 2019.
  15. Akshit Saradagi, Arun D. Mahindrakar and Shravan Mohan, "Optimization of absolute and relative thresholding parameters in event- triggered control", in the proceedings of the 17th European Control Conference, Naples, Italy, June 25-28, 2019.
  16. Sreeshma M, Arun D. Mahindrakar, Lakshminarasamma N and Ramkrishna Pasumarthy, "Modelling of non-isolated single-input-multi-output DC-DC converter", in the proceedings of the 8th International Conference on Power Electronics, Drives and Energy Systems (PEDES), IITM, India, 2018.
  17. M. V. Surya Prakash, Arun D. Mahindrakar,Ramkrishna Pasumarthy, "Reachability analysis and optimal control for epidemic spreading model on multiplex networks", in the proceedings of the 5th Indian Control Conference, IIT Delhi, India, Jan. 9-11, 2019.
  18. Akshit Saradagi, Sandeep Menta, Arun D. Mahindrakar, Sneha Gajbhiye and Ravi N. Banavar, "Poincare representation of the equations of motion of a spherical robot actuated by internal rotors", in the proceedings of the 4th Indian Control Conference, IIT Kanpur, India, Jan. 5-6, 2018.
  19. Narasimhappa Mundla, Arun D. Mahindrakar, Guizilini Vitor C, Marco Henrique Terra and Sabat Samrat L, "An Improved Sage Husa Adaptive Robust Kalman Filter for De-Noising the MEMS IMU Drift Signal", in the proceedings of the 4th Indian Control Conference, IIT Kanpur, India, Jan. 5-6, 2018.
  20. Bhuvaneswari S, Ramkrishna Pasumarthy, Ravindran B and Arun D. Mahindrakar, "Tracking and Stabilization of Mechanical Systems Using Reinforcement Learning", in the proceedings of the 4th Indian Control Conference, IIT Kanpur, India, Jan. 5-6, 2018.
  21. Souradip De, Soumya Ranjan Sahoo, Arun D. Mahindrakar and Pankaj Wahi, "Synchronization of Multiple Linear Systems with Communication Delay", in the proceedings of the 4th Indian Control Conference, IIT Kanpur, India, Jan. 5-6, 2018.
  22. Aditya Vamshikrishna, Arun D. Mahindrakar and Saligram Tiwari, "Numerical and experimental implementation of leapfrog algorithm for optimal control of a mobile robot", in the proceedings of the 3rd Indian Control Conference, IIT Guwahati, India, Jan. 5-7, 2017.
  23. Krishna Chaitanya Kosaraju, Arun D. Mahindrakar, Vijay Muralidharan Anup K. Ekbote and Ramkrishna Pasumarthy, "Position and line-of-sight stabilization of spherical robot using feedforward proportional-derivative geometric controller", in the proceedings of the Ist Indian Control Conference, Chennai, India, Jan. 5-7, 2015.
  24. Vijay Muralidharan, Abraham P. Vinod and Arun D. Mahindrakar, "Stability analysis of higher-degree first-order dynamical systems", in the proceedings of the Ist Indian Control Conference,Chennai, India, Jan.5-7, 2015.
  25. Arun D. Mahindrakar, Jose Angel Acosta and Romeo Ortega, "Constrained Stabilization of a Cart on an Asymmetric-Beam System through IDA-PBC", in the proceedings of the IEEE Multi-conference on Systems and Control, Antibes, France, October 8-10, 2014.
  26. Anup Ekbote, Vijay Muralidharan and Arun D. Mahindrakar, "Exponential Attitude Stabilization and Synchronization of Rigid Bodies", to appear in the proceedings of the 21st International Symposisum on Mathematical Theory of Networks and Systems, Groningen, The Netherlands, July 7-11, 2014.
  27. Vijay Muralidharan, Anup Ekbote and Arun D. Mahindrakar, "Finite-time control of Quadrotor system ", in the proceedings of the 3rd International Conference on Advances in Control and Optimization of Dynamical Systems (ACODS14), IIT Kanpur, Kanpur-India, 13-15 March, 2014.
  28. Deepti Kannapan, Arun D. Mahindrakar and Sandipan Bandyopadhyay, "Quaternion-based backstepping for line-of-sight tracking of satellites using only Magnetorquers", in proceedings of the 23rd IAAS/AIAA Space Flight Mechanics Meeting, Kauai, Hawaii, 10-14 Feb. 2013.
  29. Sai Pushpak and Arun D. Mahindrakar, "Semistability analysis of the Chaplygin sleigh", in proceedings of the 20th International Symposisum on Mathematical Theory of Networks and Systems, Melbourne, Australia, 9-13 July 2012.
  30. Arun D. Mahindrakar, B. Kalyan and S. N. Raghunandan, State constrained stabilization of nonlinear system: Application to a system with synchronous generator and SVC ", in proceedings of the 2nd International Conference on Advances in Control and Optimization of Dynamical Systems (ACODS12), IISc, Bangalore, 16-18 Feb. 2012.
  31. Abdul Jaleel, Varun Truperaneni and Arun D. Mahindrakar, "Control and stability analysis of a walking knee-less biped with torso", in proceedings of the 15th National Conference on Machines and Mechanisms (NaComm 2011), Chennai, pp. 248-256, 30 Nov. to 2 Dec. 2011.
  32. Vijay M., Arun D. Mahindrakar and V. Sankaranarayanan, "A constructive method for designing higher order sliding surface for single-input nonlinear system", in Proceedings of the 18th IFAC World Congress ,Milan, Italy, 28 Aug. to 2 Sept., 2011.
  33. Anup Ekbote, N. S. Srinivasan and Arun D. Mahindrakar, "Terminal sliding mode control of a twin-rotor multiple-input multiple-output system", in Proceedings of the 18th IFAC World Congress , Milan, Italy, 28 Aug. to 2 Sept., 2011.
  34. Laxman Mawani, Anup Ekbote, Vijay M., and Arun D. Mahindrakar, "Modeling and control of a quad rotor MIMO system", in the Proceedings of the International Conference on Multi-body Dynamics, Vijaywada, India, 24 Feb. to 26 Feb., 2011.
  35. Aakash A. R and and Arun D. Mahindrakar, "Stabilization of a Circular Ball-and-beam System using backstepping technique", in Proceedings of the 11th International Conference on Control, Automation, Robotics and Vision, Singapore, pp. 2227-2230, 7-10 December, 2010.
  36. Ioanis Sarras , J. A. Acosta , R. Ortega and Arun D. Mahindrakar, "Constructive Immersion and Invariance Stabilization for a Class of Underactuated Mechanical Systems", in Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS10), Bologona, Italy, Sept. 2010.
  37. Vijay Muralidharan, T .R Maruthi and Arun D. Mahindrakar, "Extending Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) to Underactuated Mechanical Systems with Nonholonomic Pfaffian Constraints: The Mobile Inverted Pendulum Robot", in Proceedings of the joint 48th IEEE Conference on Control and Decsion and 28th Chinese Control Conference, Shanghai, China, 2009. Dec.16-18, 2009.
  38. Leena Vachanai, Arun D. Mahindrakar and K. Sridharan, "Hardware architecture for control-law based Voroni diagram computation and FPGA implementation", in Proceedings of the IEEE TENCON¢08 Conference, Hyderabad, India. Nov. 2008.
  39. Abhilash P. M and Arun D. Mahindrakar, "Stabilization of a Circular Ball-and-beam System with Input and State Constraints using Linear Matrix Inequalities", in Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Singapore. Oct. 2008.
  40. V. Sankaranarayanan, Arun D. Mahindrakar and R. N. Banavar, "A note on the Robust Stability of Nonholonomic Systems", in Proceedings of the 1st International Conference on Advances in Control and Optimization of Dynamical Systems (ACODS), IISc, Bangalore. Feb. 2007.
  41. Arun D. Mahindrakar and V. Sankaranarayanan, "Nonlinear control of a beam-balance system with a single electromagnet", in Proceedings of the 1st International Conference on Advances in Control and Optimization of Dynamical Systems (ACODS), IISc, Bangalore. Feb. 2007.
  42. Arun D. Mahindrakar, Romeo Ortega, A. Astolfi and Giuseppe Viola, "Further constructive results on interconnection and damping assignment control of mechanical systems: The acrobot example", in Proceedings of the 40th Conference on Decision and Control, Minneapolis, Minnesota, USA, pp.5584-5589, June 2006.
  43. V. Sankaranarayanan, Arun D. Mahindrakar and R. N. Banavar, "Finite-time point-to-point control of a planar horizontal underwater vehicle", in Proceedings of the International Conference and Instructional Workshop on Industrial Mathematics, Mumbai, India, pp.401-409, Dec. 2002.
  44. R. N. Banavar and A. D. Mahindrakar, "Energy-based swing-up of the acrobot and time-optimal motions", in Proceedings of the IEEE International Conference on Control Applications, Istanbul, Turkey, pp.690 - 694, Sept.. 2003.
  45. V. Sankaranarayanan, A. D. Mahindrakar and R. N. Banavar, "A switched finite-time point-to-point control strategy for an underactuated underwater vehicle", in Proceedings of the IEEE International Conference on Control Applications, Istanbul, Turkey, pp. 706 - 711, Sept.. 2003.
  46. Arun D. Mahindrakar and R. N. Banavar, "Controllability properties of a planar 3R underactuated manipulator", in Proceedings of the IEEE International Conference on Control Applications, pp.489-494, Glasgow, Scotland U.K., Sept. 2002.
  47. Arun D. Mahindrakar, R. N. Banavar and M. Reyhanoglu, "Discontinuous feedback control of a 3 link planar PPR underactuated manipulator", in Proceedings of the 40th Conference on Decision and Control, Orlando, Florida USA, pp.2424-2429, Dec. 2001.
  48. Arun D. Mahindrakar and R. N. Banavar, "Sub-time optimal swing up of the acrobot", in Proceedings of the 6th European Control Conference, Porto, Portugal, pp. 588-593, Sept. 2001.
  49. Anup B. Katake, A. D. Mahindrakar and R. N. Banavar, "Study of underactuated mechanisms in the presence of holonomic constraints: The constrained acrobot", in Proceedings of the International Conference on Industrial Technology, Panjim, Goa, pp. 703-706, Jan. 2000.
  50. Madhu Belur, R. N. Banavar and A. D. Mahindrakar, "Active noise cancellation using H∞ control techniques", in Proceedings of the International Conference on Industrial Technology, Panjim, Goa, pp. 192-195, Jan. 2000.