5 papers · 1 filter
Model reference adaptive control for state and input constrained linear systems
Sudipta Chattopadhyay, Srikant Sukumar, Vivek Natarajan
State and input constraints are ubiquitous in all engineering systems. In this article, we derive adaptive controllers for uncertain linear systems under pre-specified state and in…
Consensus of networked double integrator systems under sensor bias
Pallavi Sinha, Srikant Sukumar, Himani Sinhmar
A novel distributed control law for consensus of networked double integrator systems with biased measurements is developed in this article. The agents measure relative positions ov…
Rigid Body Geometric Attitude Estimator using Multi-rate Sensors
Maulik Bhatt, Srikant Sukumar, Amit K. Sanyal
A geometric estimator is proposed for the rigid body attitude under multi-rate measurements using discrete-time Lyapunov stability analysis in this work. The angular velocity measu…
Distributed Adaptive Coverage Control of Differential Drive Robotic Sensors
Rihab Abdul Razak, Srikant Sukumar, Hoam Chung
This paper is concerned with the deployment of multiple mobile robots in order to autonomously cover a region Q. The region to be covered is described using a density function whic…
Scalar Field Estimation with Mobile Sensor Networks
Rihab Abdul Razak, Sukumar Srikant, Hoam Chung
In this paper, we consider the problem of estimating a scalar field using a network of mobile sensors which can measure the value of the field at their instantaneous location. The…