15 papers
On unified asymmetric barrier Lyapunov functions
Susmitha T Rayabagi, Shashi Ranjan Kumar, Debasattam Pal +1
Barrier Lyapunov functions (BLFs) have been a popular choice when dealing with constrained control problems. In the current article, we present a unified asymmetric barrier Lyapuno…
Geometric Fixed-Time Sliding Mode Control for Constrained Attitude Tracking on
Saumitra Barman, Shashi Ranjan Kumar, Rohit Gupta
This paper studies constrained spacecraft attitude tracking on the Riemannian configuration manifold in the presence of multiple attitude pointing constraints and…
Docking of Autonomous Vehicles with a Stationary Docking Station in 3D Space
Ram Milan Kumar Verma, Shashi Ranjan Kumar, Hemendra Arya
In this letter, we present a strategy for autonomous docking of autonomous vehicles in three-dimensional space. Docking is a safety-critical task and requires expert piloting skill…
Distributed Safe Consensus Under Asymmetric Input and Time-Varying Output Constraints
Abhinav Sinha, Shashi Ranjan Kumar
This paper studies safe distributed consensus for single-integrator multi-agent systems over connected undirected graphs under simultaneous asymmetric actuator constraints and outp…
Cooperative Guidance and Control for Active Asset Protection with Time-Varying Agent Speeds
Ram Milan Kumar Verma, Shashi Ranjan Kumar, Hemendra Arya
Protecting an asset against threats is a challenging problem in an era of continuously evolving intelligent attacks. This requires cooperation between the asset and the defender to…
Bounded-Input True Proportional Navigation for Impact-Time Control
Lohitvel Gopikannan, Shashi Ranjan Kumar, Abhinav Sinha
This paper proposes a nonlinear guidance strategy capable of intercepting a constant-velocity, non-maneuvering target while strictly satisfying the prescribed bounds on the control…
Path-Following Guidance for Unmanned Aerial Vehicle with Bounded Lateral Acceleration
Vinay Kathiriya, Saurabh Kumar, Shashi Ranjan Kumar
This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that ass…
Trajectory Tracking for Uncrewed Surface Vessels with Input Saturation and Dynamic Motion Constraints
Ram Milan Kumar Verma, Shashi Ranjan Kumar, Hemendra Arya
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limi…
Integrated Guidance and Control for Path-Following with Bounded Inputs
Ram Milan Kumar Verma, Shashi Ranjan Kumar, Hemendra Arya
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface…
Consensus-based formation of a swarm of quadrotors interacting over ring digraphs
Sahaya Aarti Dennisselvan, Shashi Ranjan Kumar, Dwaipayan Mukherjee
This work proposes a cooperative strategy for a group of quadrotors interacting over ring digraphs with macro-vertices of size two. Consensus for a group of general double integrat…
Time-Constrained Interception of Seeker-Equipped Interceptors with Bounded Input
Ashok Samrat R, Swati Singh, Shashi Ranjan Kumar
This paper presents a nonlinear guidance scheme designed to achieve precise interception of stationary targets at a pre-specified impact time. The proposed strategy essentially acc…
Trajectory tracking control of USV with actuator constraints in the presence of disturbances
Ram Milan Kumar Verma, Shashi Ranjan Kumar, Hemendra Arya
All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typica…
Field-of-View and Input Constrained Impact Time Guidance Against Stationary Targets
Swati Singh, Shashi Ranjan Kumar, Dwaipayan Mukherjee
This paper proposes a guidance strategy to achieve time-constrained interception of stationary targets, taking into account both the bounded field-of-view (FOV) of seeker-equipped…
Three-Dimensional Nonlinear Guidance with Impact Time and Field-of-view Constraints
Ashok R Samrat, Swati Singh, Shashi Ranjan Kumar
This paper addresses the time-constrained interception of targets at a predetermined time with bounded field-of-view capability of the seeker-equipped interceptors. We propose guid…
Cooperative Salvo Guidance over Leader-Follower Network with Free-Will Arbitrary Time Convergence
Rajib Shekhar Pal, Shashi Ranjan Kumar, Dwaipayan Mukherjee
A cooperative salvo strategy is proposed in this paper which achieves consensus among the interceptors within a pre-defined arbitrary settling time. Considering non-linear engageme…