1 citations · 2 across the 11 of their papers we have counts for
12 papers
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…
Input-to-State Stabilizing Neural Controllers for Unknown Switched Nonlinear Systems within Compact Sets
Bhabani Shankar Dey, Ahan Basu, Pushpak Jagtap
This paper develops a neural network based control framework that ensures system safety and input-to-state stability (ISS) for general nonlinear switched systems with unknown dynam…
Controller for Incremental Input-to-State Practical Stabilization of Partially Unknown systems with Invariance Guarantees
P Sangeerth, David Smith Sundarsingh, Bhabani Shankar Dey +1
Incremental stability is a property of dynamical systems that ensures the convergence of trajectories with respect to each other rather than a fixed equilibrium point or a fixed tr…
Neural Controller for Incremental Stability of Unknown Continuous-time Systems
Ahan Basu, Bhabani Shankar Dey, Pushpak Jagtap
This work primarily focuses on synthesizing a controller that guarantees an unknown continuous-time system to be incrementally input-to-state stable (-ISS). In this context, the…
Formally Verified Neural Network Controllers for Incremental Input-to-State Stability of Unknown Discrete-Time Systems
Ahan Basu, Bhabani Shankar Dey, Pushpak Jagtap
This work aims to synthesize a controller that ensures that an unknown discrete-time system is incrementally input-to-state stable (-ISS). In this work, we introduce the notion…
On the Contraction Analysis of Nonlinear System with Multiple Equilibrium Points
Riddhi Mohan Bora, Bhabani Shankar Dey, Indra Narayan Kar
In this work, we leverage the 2-contraction theory, which extends the capabilities of classical contraction theory, to develop a global stability framework. Coupled with powerful g…
Formally Verified Neural Lyapunov Function for Incremental Input-to-State Stability of Unknown Systems
Ahan Basu, Bhabani Shankar Dey, Pushpak Jagtap
This work presents an approach to synthesize a Lyapunov-like function to ensure incrementally input-to-state stability (-ISS) property for an unknown discrete-time system. To de…
Backstepping Design for Incremental Input-to-State Stabilization of Unknown Systems
David Smith Sundarsingh, Bhabani Shankar Dey, Pushpak Jagtap
Incremental stability of dynamical systems ensures the convergence of trajectories from different initial conditions towards each other rather than a fixed trajectory or equilibriu…
On Incremental Stability of Interconnected Switched Systems
Bhabani Shankar Dey, Indra Narayan Kar, Pushpak Jagtap
In this paper, the incremental stability of interconnected switched nonlinear systems is discussed. The nature of switching considered is state-dependent. The incremental stability…
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…
Robust Artificial Delay based Impedance Control of Robotic Manipulators with Uncertain Dynamics
Udayan Banerjee, Bhabani Shankar Dey, Indra Narayan Kar +1
In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (…
A contraction theory approach to observer-based controller design for glucose regulation in type 1 diabetes with intra-patient variability
Bhabani Shankar Dey, Anirudh Nath, Abhilash Patel +1
While the Artificial Pancreas is effective in regulating the blood glucose in the safe range of 70-180 mg/dl in type 1 diabetic patients, the high intra-patient variability, as wel…