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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…
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…
An Integrated Approach to Aerial Grasping: Combining a Bistable Gripper with Adaptive Control
Rishabh Dev Yadav, Brycen Jones, Saksham Gupta +4
Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging p…