8 papers
Safety in Admittance Control using Reference Trajectory Shaping
Chayan Kumar Paul, Bhabani Shankar Dey, Indra Narayan Kar
This paper presents a switched model reference admittance control framework to achieve safe and compliant human-robot collaboration through reference trajectory shaping. The propos…
Input-to-State Stabilizing Neural Controllers for Unknown Switched Nonlinear Systems within Compact Sets
Bhabani Shankar Dey, Ahan Basu, Pushpak Jagtap
This paper develops a neural network based control framework that ensures system safety and input-to-state stability (ISS) for general nonlinear switched systems with unknown dynam…
Neural Controller for Incremental Stability of Unknown Continuous-time Systems
Ahan Basu, Bhabani Shankar Dey, Pushpak Jagtap
This work primarily focuses on synthesizing a controller that guarantees an unknown continuous-time system to be incrementally input-to-state stable (-ISS). In this context, th…
Formally Verified Neural Network Controllers for Incremental Input-to-State Stability of Unknown Discrete-Time Systems
Ahan Basu, Bhabani Shankar Dey, Pushpak Jagtap
This work aims to synthesize a controller that ensures that an unknown discrete-time system is incrementally input-to-state stable (-ISS). In this work, we introduce the notion…
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…
On the Contraction Analysis of Nonlinear System with Multiple Equilibrium Points
Riddhi Mohan Bora, Bhabani Shankar Dey, Indra Narayan Kar
In this work, we leverage the 2-contraction theory, which extends the capabilities of classical contraction theory, to develop a global stability framework. Coupled with powerful g…