4 papers
Observer-Based Fixed-Time Nested Sliding-Mode Control for Tip-Position Regulation of a Single-Link Flexible Manipulator
Atul Sharma, Chayan Kumar Paul, S. Janardhanan
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time c…
Robust Fixed-Time Model Reference Adaptive Control
Chayan Kumar Paul, Krishanu Nath, Indra Narayan Kar +2
This article proposes a Model Reference Adaptive Control (MRAC) strategy to achieve fixed-time convergence of parameter estimation and tracking errors for unknown linear time-invar…
Safety in Admittance Control using Reference Trajectory Shaping
Chayan Kumar Paul, Bhabani Shankar Dey, Indra Narayan Kar
This paper presents a switched model reference admittance control framework to achieve safe and compliant human-robot collaboration through reference trajectory shaping. The propos…
Safe Human Robot-Interaction using Switched Model Reference Admittance Control
Chayan Kumar Paul, Bhabani Shankar Dey, Udayan Banerjee +1
Physical Human-Robot Interaction (pHRI) task involves tight coupling between safety constraints and compliance with human intentions. In this paper, a novel switched model referenc…