9 papers · 2 filters
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…