4 papers
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…
An Event-based State Estimation Approach for Positive Systems with Positive Observers
Bhargavi Chaudhary, Krishanu Nath, Subashish Datta +1
This article addresses the problem of state observer design for continuous-time linear positive networked systems. Considering the bandwidth constraint in the communication network…
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…