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International Workshop on Variable Structure systems, VSS

作者： Asifa Yesmin Kiran Kumari Arpita Sinha IDP in Systems and Control Engineering Indian Institute of Technology Bombay India

ISBN: (数字)9798350353686

ISBN: (纸本)9798350353693

This paper introduces a formation control framework for a double integrator multi-agent system (MAS) utilizing adaptive sliding mode control (SMC) integrated with a collision avoidance strategy. To prevent inter-agent collisions, the artificial potential function is employed, leveraging inter-agent positions and predefined safe and avoidance zones. A new sliding surface is defined to enhance tracking performance while incorporating collision avoidance functionalities. Additionally, a proportional reaching law-based control scheme is devised to expedite the convergence of sliding trajectories. The asymptotic stability of the tracking error system is demonstrated through Lyapunov analysis. A numerical calculation has been performed to evaluate the performance of SMC and adaptive SMC based on different indices. MATLAB simulation results are presented to illustrate the effectiveness of the proposed controller design.

关键词： Variable structure systems Upper bound Heuristic algorithms Simulation Formation control Trajectory Collision avoidance MATLAB Sliding mode control Convergence

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Adaptive Continuous Terminal Sliding Mode control for Unmanned Aerial Vehicle 10

Adaptive Continuous Terminal Sliding Mode Control for Unmann...

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10th Indian control Conference, ICC 2024

作者： Kumar, Sunil Yesmin, Asifa Sinha, Arpita Guha, Anirban TIH Foundation for IoT and IoE Indian Institute of Technology Bombay Mumbai India IDP in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Department of Mechanical Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9798331517212

This paper introduces an improved control strategy for tracking the altitude and attitude of the quadcopter unmanned aerial vehicle (UAV) in the presence of external disturbance, known as adaptive super-twisting terminal sliding mode control (AST-TSMC). This approach ensures finite-time convergence of the sliding variable and error trajectories using a real second-order sliding mode. An adaptive super-twisting approach is incorporated to reduce the reliance on the upper bound of the unknown disturbance and achieve continuous control. A nonlinear sliding surface is designed to ensure the finite time convergence of the sliding variable and the tracking error. The Lyapunov-based stability analysis is presented to confirm the finite-time convergence. Comparative simulation results of AST-TSMC, ST-TSMC, and TSMC are presented to demonstrate the strategy’s performance. The effectiveness of the proposed approach is validated through MATLAB simulation results. © 2024 IEEE.

关键词： Sliding mode control

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Adaptive Generalized Super-Twisting Sliding Mode controller for Wheeled Mobile Robot

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IFAC-PapersOnLine 2024年 57卷 345-350页

作者： Asifa Yesmin Krishanu Nath Kiran Kumari Arpita Sinha Manas Kumar Bera IDP in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai India Department of Electrical Engineering Indian Institute of Science Bengaluru India Department of Electrical Engineering National Institute of Technology Rourkela Rourkela India

This paper presents the design of an adaptive generalized super-twisting sliding mode control (SMC) for reference tracking by the two-wheeled mobile robot in the presence of uncertainty. An additional linear correction term is included in the generalized super-twisting control. The designed controller can achieve the convergence of the tracking error and reduced chattering due to the generalized super-twisting structure. The detailed Lyapunov-based stability proof has been derived to ensure the stability of the two-wheeled robot. To relax the dependence on the upper bound of the unknown disturbance, the adaptive SMC has been incorporated. The appropriate adaptive gain has been designed judiciously to ensure the convergence of the sliding variable and the tracking error. Finally, the practical implementation of the proposed adaptive generalized super-twisting robust controller is carried out on a real system, specifically the Q-bot 2e, to illustrate the effectiveness of the designed controller.

关键词： Adaptive control Autonomous Mobile Robot Robust control Sliding mode control Super-twisting control

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Nonlinear control of a Laboratory Gas Turbine Engine with Uncertain System Dynamics

Nonlinear Control of a Laboratory Gas Turbine Engine with Un...

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2021 International Symposium of Asian control Association on Intelligent Robotics and Industrial Automation, IRIA 2021

作者： Singh, Richa Nandy, Subhashis Maity, Arnab Nataraj, P.S.V. Indian Institute of Technology Bombay Department of Aerospace Engineering Powai400076 India Indian Institute of Technology Bombay IDP in Systems and Control Engineering Powai400076 India

ISBN: (纸本)9781665433235

A sliding mode control (SMC) design approach is presented in this paper to ensure the robust tracking of a laboratory-based gas turbine engine (GTE) subjected to noise and uncertainties in parameters and disturbances. The design of SMC is defined as the main objective to compute the requirement of fuel flow for the engine such that the shaft speed of the GTE tracks its commanded signal with minimum control effort while adhering to physical constraints. Further, an approximation task of the discontinuous signum function is performed by a saturation function to attenuate the chattering phenomena. The proposed control design is then verified on a validated mathematical model of GTE subjected to uncertainties and noise. The closed-loop GTE responses truly accomplish the superiority of the proposed design approach of SMC control in achieving satisfactory tracking performance of the gas turbine engine. © 2021 IEEE.

关键词： Sliding mode control

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Robustification of Unscented Kalman Filtering to Identify Faults in Gas Turbine Engine

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IFAC-PapersOnLine 2022年第1期55卷 826-831页

作者： Subhashis Nandy Richa Singh Arnab Maity P.S.V. Nataraj Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai - 400076 India IDP in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai - 400076 India

A methodology is proposed to improve the robustification of the Unscented Kalman Filtering by adjusting the measurement noise covariance matrix by introducing two adaptive factors. The combined effect of the two adaptive factors helps to identify and filter the outliers more prominently. Improvement in the proposed robust UKF algorithm is established by analyzing the percentage reduction of accumulation error for different conditions with the larger measurement noise covariance. In addition, a method of fault identification of gas turbine engines is developed by the proposed robust UKF approach in the presence of system and measurement noises. The proposed fault identification method deals with the analysis of the residual signature of different states along with the cost function of the derived algorithm. Different component and sensor anomalies are introduced in the nonlinear dynamic model of the gas turbine engine to produce the faulty situations. The deviations in performances are compared with the nominal behavior to obtain the residual signature. A comparative study is performed to identify the faulty scenarios.

关键词： Unscented Kalman filtering Robustification Component faults Sensor faults Residual Cost function Fault identification

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Adaptive Continuous Terminal Sliding Mode control for Unmanned Aerial Vehicle

Adaptive Continuous Terminal Sliding Mode Control for Unmann...

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Indian control Conference (ICC)

作者： Sunil Kumar Asifa Yesmin Arpita Sinha Anirban Guha TIH Foundation for IoT and IoE Indian Institute of Technology Bombay Mumbai India IDP in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Department of Mechanical Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (数字)9798331517212

ISBN: (纸本)9798331517229

This paper introduces an improved control strategy for tracking the altitude and attitude of the quadcopter unmanned aerial vehicle (UAV) in the presence of external disturbance, known as adaptive super-twisting terminal sliding mode control (AST-TSMC). This approach ensures finite-time convergence of the sliding variable and error trajectories using a real second-order sliding mode. An adaptive super-twisting approach is incorporated to reduce the reliance on the upper bound of the unknown disturbance and achieve continuous control. A nonlinear sliding surface is designed to ensure the finite time convergence of the sliding variable and the tracking error. The Lyapunov-based stability analysis is presented to confirm the finite-time convergence. Comparative simulation results of AST-TSMC, ST-TSMC, and TSMC are presented to demonstrate the strategy's performance. The effectiveness of the proposed approach is validated through MATLAB simulation results.

关键词： Upper bound Attitude control Simulation Switches Autonomous aerial vehicles Stability analysis Trajectory Sliding mode control Convergence Quadrotors

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Real-time depth estimation using camera and IMU on the unstabilized platform of a spherical robot 2019

Real-time depth estimation using camera and IMU on the unsta...

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Proceedings of the Advances in Robotics 2019

作者： Adwaith Vijayakumar Leena Vachhani Abhishek Gupta IDP in Systems and Control Engineering IIT Bombay Department of Mechanical Engineering IIT Bombay

ISBN: (纸本)9781450366502

Vision based robot navigation relies on the image sequences that are captured by the camera attached to its platform. In many robotic applications such as in case of spherical robots used for surveillance, the platform on which the camera resides is often unsteady and unwanted relative motion exists between camera and scene. This unwanted relative motion in case of a spherical robot is due to the pitching motion associated with its platform called yoke. A depth estimation algorithm that handles the effect of pitching using non-linear observer approach is proposed. The object in the scene whose depth is to be estimated is detected as features in the acquired images and are tracked by using concepts of optical flow. A discrete time state space model that fuses the information from camera and IMU data attached to the unsteady platform of spherical robot is derived. Extended Kalman filter (EKF) is used as the non-linear estimation technique for extraction of depth information from the proposed state space model. The convergence aspects of the extended Kalman filter when used as a deterministic observer for the proposed non-linear discrete-time model is analyzed with local observability and it is shown that there is boundedness of error covariance between the observed and actual depth. It is shown that the estimation error converges to zero irrespective of the initialization provided to the observer.

关键词： spherical robot vision-inertial data integration Monocular depth estimation

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Real-time depth estimation using camera and IMU on the unstabilized platform of a spherical robot

Real-time depth estimation using camera and IMU on the unsta...

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2019 Conference on Advances in Robotics, AIR 2019

作者： Vijayakumar, Adwaith Vachhani, Leena Gupta, Abhishek IDP in Systems and Control Engineering IIT Bombay India Department of Mechanical Engineering IIT Bombay India

ISBN: (纸本)9781450366502

关键词： Cameras

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Development of one-dimensional fractional-order two-group models for nuclear reactor

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IFAC-PapersOnLine 2016年第1期49卷 260-265页

作者： Vyawahare, Vishwesh A. Nataraj, P.S.V. Department of Electronics Engineering Ramrao Adik Institute of Technology Nerul Navi Mumbai400 706 India IDP in Systems and Control Engineering Indian Institute of Technology Bombay Powai Mumbai India

This paper deals with fractional-order modeling of neutron transport in a nuclear reactor considering the energy-dependence of neutrons. The paper reports, using two energy group framework, the development of two novel fractional-order models: Fractional-order Two- Group Telegraph-Subdiffusion Model and Fractional-order Two-Group Subdiffusion Model. The models are developed with one-dimensional space consideration. These models are in the form of coupled, linear partial differential equations representing the movement of fast and thermal neutrons. The proposed models can be thought as more faithful and realistic representations of movement of neutrons in a heterogeneous core of nuclear reactor. © 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Nuclear reactors Neutron flux Transport properties Energy dependence Energy model Fractional order Fractional order models Heterogeneous cores Linear partial differential equations Neutron transport Thermal neutrons

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Model predictive control of a CSTR: A comparative study among linear and nonlinear model approaches

Model predictive control of a CSTR: A comparative study amon...

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Indian control Conference (ICC)

作者： Ashok Krishnan Bhagyesh V. Patil P. S. V. Nataraj Jan Maciejowski K. V. Ling School of Electrical and Electronic Engineering Nanyang Technological University Singapore Cambridge Centre for Advanced Research in Energy Efficiency Singapore IDP in Systems and Control Engineering IIT Bombay Mumbai Department of Engineering University of Cambridge Cambridge United Kingdom

ISBN: (纸本)9781509017966

This paper presents a comparative study of two widely accepted model predictive control schemes based on mixed logical dynamical (MLD) and nonlinear modeling approaches with application to a continuous stirred tank reactor (CSTR) system. Specifically, we approximate the nonlinear behavior of a CSTR system with multiple local linear models in a MLD framework. The main benefit of such a scheme is the significant improvement in model accuracy when compared with a single linearized model. The benefits and trade-offs associated with predictive control laws synthesized using MLD and nonlinear modeling approaches are also compared.

关键词： Chemical reactors Predictive models Mathematical model Optimization Numerical models Adaptation models Nonlinear systems

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