113 citations · 309 across the 22 of their papers we have counts for
25 papers
Minimum Time Consensus of Multi-agent System under Fuel Constraints
Akansha Rautela, Deepak Patil, Ameer Mulla +1
This work addresses the problem of finding minimum time consensus point in the state space for a set of identical double integrator agents with bounded inputs and fixed fuel bu…
A Necessary and Sufficient Condition for Local Synchronization in Nonlinear Oscillator Networks
Sanjeev Kumar Pandey, Shaunak Sen, Indra Narayan Kar
Determining conditions on the coupling strength for the synchronization in networks of interconnected oscillators is a challenging problem in nonlinear dynamics. While sophisticate…
Approximate Dynamic Programming based Model Predictive Control of Nonlinear systems
Keerthi Chacko, Midhun T. Augustine, S. Janardhanan +2
This paper studies the optimal control problem for discrete-time nonlinear systems and an approximate dynamic programming-based Model Predictive Control (MPC) scheme is proposed fo…
On Incremental Stability of Interconnected Switched Systems
Bhabani Shankar Dey, Indra Narayan Kar, Pushpak Jagtap
In this paper, the incremental stability of interconnected switched nonlinear systems is discussed. The nature of switching considered is state-dependent. The incremental stability…
Characterization of full-scale denial-of-service
Anindya Basu, Indrani Kar
This article investigates the resilient control problem for Cyber-Physical Systems (CPSs) with multiple sensors, where both sides of the communication channels are affected by Deni…
Robust Artificial Delay based Impedance Control of Robotic Manipulators with Uncertain Dynamics
Udayan Banerjee, Bhabani Shankar Dey, Indra Narayan Kar +1
In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (…
Characterization of Minimum Time-Fuel Optimal Control for LTI Systems
Rajasree Sarkar, Deepak U. Patil, Indra Narayan Kar
A problem of computing time-fuel optimal control for state transfer of a single input linear time invariant (LTI) system to the origin is considered. The input is assumed to be bou…
Consensus of Multi-Agent Systems Using Back-Tracking and History Following Algorithms
Yanumula V. Karteek, Indrani Kar, Somanath Majhi
This paper proposes two algorithms, namely "back-tracking" and "history following", to reach consensus in case of communication loss for a network of distributed agents with switch…
Efficient detection of adversarial images
Darpan Kumar Yadav, Kartik Mundra, Rahul Modpur +2
In this paper, detection of deception attack on deep neural network (DNN) based image classification in autonomous and cyber-physical systems is considered. Several studies have sh…
Artificial Delay Based ARC of a Class of Uncertain EL Systems with Only Position Feedback
Spandan Roy, Indra Narayan Kar, Jinoh Lee +2
In this paper, the tracking control problem of an Euler-Lagrange system is addressed with regard to parametric uncertainties, and an adaptive-robust control strategy, christened Ti…
Consensus of second order multi-agents with actuator saturation and asynchronous time-delays
Venkata Karteek Yanumula, Indrani Kar, Somanath Majhi
This article presents the consensus of a saturated second order multi-agent system with non-switching dynamics that can be represented by a directed graph. The system is affected b…
Theory and Application on Adaptive-Robust Control of Euler-Lagrange Systems with Linearly Parametrizable Uncertainty Bound
Spandan Roy, Sayan Basu Roy, Indra Narayan Kar
This work proposes a new adaptive-robust control (ARC) architecture for a class of uncertain Euler-Lagrange (EL) systems where the upper bound of the uncertainty satisfies linear i…
Analysis of higher order time delay systems using Lambert W function
Niraj Choudhary, Janardhanan Sivaramakrishnan, Indra Narayan Kar
In this note, analysis of time delay systems using Lambert W function approach is reassessed. A common canonical form of time delay systems is defined. We extended the recent resul…
Memory-Based Data-Driven MRAC Architecture Ensuring Parameter Convergence
Sayan Basu Roy, Shubhendu Bhasin, Indra Narayan Kar
Convergence of controller parameters in standard model reference adaptive control (MRAC) requires the system states to be persistently exciting (PE), a restrictive condition to be…
Event-triggered Communication in Wide-area Damping Control: A Limited Output Feedback Based Approach
Mahendra Bhadu, Niladri Sekhar Tripathy, I. N. Kar +1
A conceptual design methodology is proposed for event-triggered based power system wide area damping controller. The event-triggering mechanism is adopted to reduce the communicati…
Stabilization of Uncertain Discrete-time Linear System via Limited Information
Niladri Sekhar Tripathy, I. N. Kar, Kolin Paul
This paper proposes a procedure to control an uncertain discrete-time networked control system through a limited stabilizing input information. The system is primarily affected by…
Contraction based stabilization of nonlinear singularly perturbed systems and application to high gain feedback
Madan Mohan Rayguru, I N Kar
Recent development of contraction theory based analysis of singularly perturbed system has opened the door for inspecting differential behavior of multi time-scale systems. In this…
A Contraction Theory Approach for Analysis of Performance Recovery in Dynamic Surface Control
M M Rayguru, I N kar
Dynamic surface control (DSC) method uses high gain filters to avoid the "explosion of complexity" issue inherent in backstepping based controller designs. As a result, the closed…
Adaptive-Robust Control of a Class of Nonlinear Systems with Unknown Input Delay
Spandan Roy, Indra Narayan Kar
In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a…
Adaptive-Robust Control of a Class of Uncertain Nonlinear Systems Utilizing Time-Delayed Input and Position Feedback
Spandan Roy, Indra Narayan Kar
In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened…
Formation Stabilization with Collision Avoidance of Complex Systems
Soumic Sarkar, Indra Narayan Kar
Two different aspects of formation control of multiple agents subjected to linear transformation have been addressed in this paper. We consider a set of complex single integrator s…
Multi Time Scale Behaviour of The Formation of Multiple Groups of Nonholonomic Wheeled Mobile Robots
Soumic Sarkar, Indra Narayan Kar
Different geometric patterns and shapes are generated using groups of agents, and this needs formation control. In this paper, Centroid Based Transformation (CBT), has been applied…
Model Based Robust Control Law for Linear Event-triggered System
Niladri Sekhar Tripathy, I. N. Kar, Kolin Paul
This paper proposes a framework to design an event-triggered based robust control law for linear uncertain system. The robust control law is realized through both static and dynami…
Formation of Multiple Groups of Mobile Robots Using Sliding Mode Control
Soumic Sarkar, Indra Narayan Kar
Formation control of multiple groups of agents finds application in large area navigation by generating different geometric patterns and shapes, and also in carrying large objects.…