39 citations · 120 across the 21 of their papers we have counts for
25 papers
Geometric Extended State Observer on SE(3) with Fast Finite-Time Stability: Theory and Validation on a Rotorcraft Aerial Vehicle
Ningshan Wang, Reza Hamrah, Amit K. Sanyal +1
This article presents an extended state observer for vehicle modeled as a rigid body in three-dimensional translational and rotational motions. The extended state observer is appli…
Geometric Active Disturbance Rejection Control of Rotorcraft on with Fast Finite-Time Stability
Ningshan Wang, Reza Hamrah, Amit K. Sanyal +1
This article presents a tracking control framework enhanced by an extended state observer for a rotorcraft aerial vehicle modeled as a rigid body in three-dimensional translational…
Breaking Symmetries Leads to Diverse Quadrupedal Gaits
Jiayu Ding, Zhenyu Gan
Symmetry manifests itself in legged locomotion in a variety of ways. No matter where a legged system begins to move periodically, the torso and limbs coordinate with each other's m…
Practice Makes Perfect: an iterative approach to achieve precise tracking for legged robots
Jing Cheng, Yasser G. Alqaham, Amit K. Sanyal +1
Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A…
Discrete-time Rigid Body Pose Estimation based on Lagrange-d'Alembert principle
Maulik Bhatt, Srikant Sukumar, Amit K Sanyal
The problem of rigid body pose estimation is treated in discrete-time via discrete Lagrange-d'Alembert principle and discrete Lyapunov methods. The position and attitude of the rig…
Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model
Sangli Teng, Amit K. Sanyal, Ram Vasudevan +2
Ultra-Local Models (ULM) have been applied to perform model-free control of nonlinear systems with unknown or partially known dynamics. Unfortunately, extending these methods to MI…