3 papers
eess.SY2026
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…
eess.SY2026
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…
eess.SY2025
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…