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A Switched Adaptive Control Framework for Aerial Manipulators Under Dynamic Transitions
Rishabh Dev Yadav, Saksham Gupta, Amitabh Sharma +4
Aerial manipulators represent the forefront of aerial robotics. Although potentially capable of complex interaction tasks, controlling aerial manipulators throughout the dynamic tr…
Reinforcement Learning with Inner-loop Dynamics Estimator for Aerial Manipulation under Uncertainty
Shivansh Pratap Singh, Samaksh Ujjwal, Ishita Chaudhary +3
Aerial manipulators enable physical interaction in hard-to-reach environments; however, the combined problem of direct whole-body aerial manipulation under rapid arm motion, payloa…
Physics-Aware Sparse Learning and Selective Online Adaptation for Euler-Lagrange Robot Dynamics
Rishabh Dev Yadav, Samaksh Ujjawal, Sihao Sun +2
Accurate dynamics models are essential for model-based robotic control, yet nominal Euler--Lagrange models often become inaccurate in the presence of payload variation, unmodeled c…
Adaptive Artificial Time-Delay Control with Barrier Lyapunov Constraints for Euler-Lagrange Robots
Saksham Gupta, Rishabh Dev Yadav, Sarthak Mishra +5
This paper addresses the challenge of simultaneously compensating for state-dependent uncertainties and enforcing time-varying state constraints in Euler-Lagrange systems, a common…
Adaptive Sliding Mode Control for Vehicle Platoons with State-Dependent Friction Uncertainty
Rishabh Dev Yadav
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle pla…