12 papers
Output Feedback MPC with Adaptive Tubes
Anchita Dey, Shubhendu Bhasin
An output feedback model predictive control (MPC) framework with adaptive tubes is proposed for linear time-invariant systems subject to parametric and additive uncertainties. An a…
Adaptive Tube MPC: Beyond a Common Quadratically Stabilizing Feedback Gain
Anchita Dey, Shubhendu Bhasin
This paper proposes an adaptive tube framework for model predictive control (MPC) of discrete-time linear time-invariant systems subject to parametric uncertainty and additive dist…
Balancing Safety and Optimality in Robot Path Planning: Algorithm and Metric
Jatin Kumar Arora, Soutrik Bandyopadhyay, Sunil Sulania +1
Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance. While existing algorithms typically prioritize a single objective, we…
Adaptive Tracking Control of Euler-Lagrange Systems with Time-Varying State and Input Constraints
Poulomee Ghosh, Shubhendu Bhasin
This paper presents an adaptive control framework for Euler-Lagrange (E-L) systems that enforces user-defined time-varying state and input constraints in the presence of parametric…
EEG-based 90-Degree Turn Intention Detection for Brain-Computer Interface
Pradyot Anand, Anant Jain, Suriya Prakash Muthukrishnan +3
Electroencephalography (EEG)--based turn intention prediction for lower limb movement is important to build an efficient brain-computer interface (BCI) system. This study investiga…
Initial Excitation-based Adaptive Observers for Discrete-Time LTI Systems
Anchita Dey, Soutrik Bandyopadhyay, Shubhendu Bhasin
In practical applications, the efficacy of a control algorithm relies critically on the accurate knowledge of the parameters and states of the underlying system. However, obtaining…