3 papers
eess.SY2022
Co-Design of Watermarking and Robust Control for Security in Cyber-Physical Systems
Raman Goyal, Christoforos Somarakis, Erfaun Noorani +1
This work discusses a novel framework for simultaneous synthesis of optimal watermarking signal and robust controllers in cyber-physical systems to minimize the loss in performance…
eess.SY2020
Integrating Structure, Information Architecture and Control Design: Application to Tensegrity Systems
Raman Goyal, Manoranjan Majji, Robert E. Skelton
A novel unified approach to jointly optimize structural design parameters, actuator and sensor precision and controller parameters is presented in this paper. The joint optimizatio…
cs.RO2020
Robust Shape Control of Gyroscopic Tensegrity Robotic Arm
Raman Goyal, Manoranjan Majji, Robert E. Skelton
This paper proposes a model-based approach to control the shape of a tensegrity system by driving its node position locations. The nonlinear dynamics of the tensegrity system is us…