Research Output
Consensus and Synchronization: From the Euclidean Space and the Circle to Lie Groups
Deterministic Attitude Estimation
Stochastic Recursive Inclusions under Biased Perturbations: An Input-to-State Stability Perspective
Safe Time-Varying Nonlinear Programming with Equality Constraints"
Convergence Analysis of Stochastic Saddle Point Mirror Descent Algorithm — A Projected Dynamical View Point
A Unified Framework for Consensus and Synchronization on Lie Groups Admitting a Bi-Invariant Metric
Continuous-time Heavy-Ball Gradient Method: Safety, Stability and Robustness
Almost Sure Convergence and Non-asymptotic Concentration Bounds for Stochastic Mirror Descent Algorithm
Event-triggered Control for Nonlinear Systems with Center Manifolds
Geometric PID Controller for Stabilization of Nonholonomic Mechanical Systems on Lie Groups
Dynamical System Approach for Time-Varying Constrained Convex Optimization Problems
Robust Analysis of Almost Sure Convergence of Zeroth-Order Mirror Descent Algorithm
Non-smooth Projected Primal-Dual Dynamical Approach to Solve the Extended Fermat-Torricelli Problem
Modelling, Design and Control of Non-isolated Single-input Multi-output Zeta-Buck-Boost Converter
MEMS Based IMU Drift Minimization: Sage Husa Adaptive Robust Kalman Filtering
Control of Driftless Bilinear Vector Field on n-Sphere
Complex Laplacian-based Distributed Control for Multi-agent Network
Formation Control and Trajectory Tracking of Mobile Inverted Pendulum Robots
Stability Analysis of Nonlinear Time-Delayed Systems with Application to Biological Models
Geometric Controllability and Stabilization of Spherical Robot Dynamics
A Deterministic Attitude Estimation Using a Single Vector Information and Rate Gyros
Semistability Analysis of the Chaplygin Sleigh and the Nonsmooth Mechanical Oscillator
Position Stabilization and Waypoint Tracking Control of Mobile Inverted Pendulum Robot
Constructive Immersion and Invariance Stabilization for a Class of Underactuated Mechanical Systems
Configuration Constrained Stabilization of a Wheeled Mobile Robot — Theory and Experiment
Robust Stabilization of a Class of Underactuated Mechanical Systems Using Time-scaling and Lyapunov Redesign
Mobile Robot Navigation Through a Hardware-Efficient Implementation for Control-Law-Based Construction of Generalized Voronoi Diagram
Asymptotic Stabilization of the Ball and Beam System: Design of Energy-based Control Law and Experimental Results
Output Feedback Second-Order Sliding Mode Control of the Cart on a Beam System
Control of a Class of Underactuated Mechanical Systems Using Sliding Modes
Switched Control of Nonholonomic Mobile Robot
A Switched Controller for an Underactuated Underwater Vehicle
State Constrained Stabilization of Beam Balance Systems
Further Constructive Results on Interconnection and Damping Assignment Control of Mechanical Systems: The Acrobot Example
Interconnection and Damping Assignment Passivity-Based Control of Mechanical Systems with Underactuation Degree One
Point-to-point Control of a 2R Planar Horizontal Underactuated Manipulator
A Nonsmooth Control Law and Time-Optimality Notions for the Acrobot
Swing-up of the Acrobot Based on Pendulum Analogy
Controllability and Point-to-point Control of 3-DOF Planar Horizontal Underactuated Manipulators
A Principal Bundle Framework for Generalised Notions of Formation and Rigidity
Modeling and Control of Single-Input Multi-Output DC-DC Converters in Port-Controlled Hamiltonian Framework
Non-Linear AIMD with Time-Varying Resource and Saturation Constraints
Asymptotic Stabilization of Passive Nonlinear Systems with Finite Countable Control Actions: Mixed Switching — Nearest Action Control Approach
First-Order Dynamic Quantized Consensus of Multi-Agent Systems
An Almost Sure Convergence Analysis of Zeroth-Order Mirror Descent Algorithm"
Fixed-Time Dynamical System Approach for Solving Time-Varying Convex Optimization Problems
Distributed Online Mirror Descent Algorithm with Event Triggered Communication
Geometric Second-Order Laplacian Flow for Consensus on Lie Groups
Simultaneous Beamforming and Trajectory Tracking in a Multi-Agent Formation
Event-triggered Stabilization of Nonlinear Systems with Center Manifolds
Non-smooth Projected Primal-Dual Dynamical Approach to Solve the Extended Fermat-Torricelli Problem
Global Attitude Estimation and Dead Reckoning of a Mobile Spherical Robot Using Extended Kalman Filter
Computation of Outer Approximation to Reachable Set for Cooperative Systems: Application to an Epidemic Spreading Model
Optimization of Absolute and Relative Thresholding Parameters in Event-triggered Control
Reachability Analysis and Optimal Control for Epidemic Spreading Model on Multiplex Networks
Modelling of Non-isolated Single-input-Multi-output DC-DC Converter
Poincaré Representation of the Equations of Motion of a Spherical Robot Actuated by Internal Rotors
An Improved Sage Husa Adaptive Robust Kalman Filter for De-Noising the MEMS IMU Drift Signal
Tracking and Stabilization of Mechanical Systems Using Reinforcement Learning
Synchronization of Multiple Linear Systems with Communication Delay
Numerical and Experimental Implementation of Leapfrog Algorithm for Optimal Control of a Mobile Robot
Position and Line-of-Sight Stabilization of Spherical Robot Using Feedforward Proportional-Derivative Geometric Controller
Stability Analysis of Higher-Degree First-Order Dynamical Systems
Constrained Stabilization of a Cart on an Asymmetric-Beam System through IDA-PBC
Exponential Attitude Stabilization and Synchronization of Rigid Bodies
Finite-time Control of Quadrotor System
Quaternion-based Backstepping for Line-of-Sight Tracking of Satellites Using Only Magnetorquers
Semistability Analysis of the Chaplygin Sleigh
State Constrained Stabilization of Nonlinear System: Application to a System with Synchronous Generator and SVC
Control and Stability Analysis of a Walking Knee-less Biped with Torso
A Constructive Method for Designing Higher Order Sliding Surface for Single-Input Nonlinear System
Terminal Sliding Mode Control of a Twin-Rotor Multiple-Input Multiple-Output System
Modeling and Control of a Quad Rotor MIMO System
Stabilization of a Circular Ball-and-Beam System Using Backstepping Technique
Constructive Immersion and Invariance Stabilization for a Class of Underactuated Mechanical Systems
Extending IDA-PBC to Underactuated Mechanical Systems with Nonholonomic Pfaffian Constraints: The Mobile Inverted Pendulum Robot
Hardware Architecture for Control-Law Based Voronoi Diagram Computation and FPGA Implementation
Stabilization of a Circular Ball-and-Beam System with Input and State Constraints Using Linear Matrix Inequalities
A Note on the Robust Stability of Nonholonomic Systems
Nonlinear Control of a Beam-Balance System with a Single Electromagnet
Further Constructive Results on Interconnection and Damping Assignment Control of Mechanical Systems: The Acrobot Example
Finite-time Point-to-point Control of a Planar Horizontal Underwater Vehicle
Energy-based Swing-up of the Acrobot and Time-optimal Motions
A Switched Finite-time Point-to-point Control Strategy for an Underactuated Underwater Vehicle
Controllability Properties of a Planar 3R Underactuated Manipulator
Discontinuous Feedback Control of a 3-Link Planar PPR Underactuated Manipulator
Sub-time Optimal Swing Up of the Acrobot
Study of Underactuated Mechanisms in the Presence of Holonomic Constraints: The Constrained Acrobot
Active Noise Cancellation Using H∞ Control Techniques