Indian Institute of Technology Palakkad&nbsp;(IIT Palakkad or IIT PKD) is a public autonomous&nbsp;engineering&nbsp;and&nbsp;research&nbsp;institute located in&nbsp;Palakkad,&nbsp;Kerala. It was&nbsp;one of the five new&nbsp;IITs&nbsp;proposed in the&nbsp;2014 Union budget of India. The campus was inaugurated on 3 August 2015. The institute has 94 faculty, 978 students, and 63 non-teaching staffs.

IT Palakkad currently offers four-year Bachelor of Technology (B.Tech) and two years MS programmes in 8 different engineering disciplines including&nbsp;Computer Science, Electrical, Mechanical, Civil among others.

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IIT Palakkad

World University root node

Department of Electrical Engineering

arXiv preprint arXiv:2110.

Event-triggered Control for Nonlinear Systems with Center Manifolds

The control of a spacecraft equipped with a six-degree-of-freedom robot manipulator is studied in this paper. The objective is to rendezvous and synchronize with a satellite to facilitate inspection, servicing or de-orbiting. The space manipulator dynamics model with global parameterization on the configuration manifold is derived and used for designing asymptotically-stable control laws, so that they are valid globally in the configuration manifold. The control system consists of a sliding-mode rendezvous controller as well as a geometric attitude synchronization and a model-based servo control for the robot manipulator. The gains of the sliding-mode controller dictate a user-defined upper-bound on the thrust force. The attitude synchronization controller, concurrently with the rendezvous controller, is capable of micro-orbiting the space manipulator around spinning or tumbling satellites. It is observed through the simulations that the controller consumes limited amount of propellant, and it is feasible to use it for either a re-fueling (larger mass) or a de-orbiting (smaller mass) space manipulator. © 2019, American Astronautical Society.

Journal of the Astronautical Sciences

Rendezvous and Attitude Synchronization of a Space Manipulator

In this paper, we consider a multi-input driftless bilinear system evolving on the n-dimensional sphere Sn. We first provide examples drawn from rigid body mechanics that provide the motivation for the control of bilinear systems on Sn. For the general framework, we establish the global controllability on Sn and propose two linear control laws on Sn that achieve asymptotic stabilization of an equilibrium point with an almost global domain-of-attraction. Further, the asymptotically stable closed-loop system trajectories are shown to be arcs on the geodesics of Sn for a particular choice of the equilibrium point. Next, we propose two linear time-varying control laws to achieve trajectory tracking on Sn and show the asymptotic stability of the tracking error. A distributed control is designed for the consensus of multiagent bilinear systems on Sn with an undirected tree as the communication graph. The consensus manifold is shown to have an almost global domain of attraction. © 2019 IEEE.

IEEE Transactions on Automatic Control

Control of a Driftless Bilinear Vector Field on n-Sphere

Journal of Guidance, Control, and Dynamics

Concurrent rendezvous control of underactuated space manipulators

In this brief, we design Lyapunov-based control laws to achieve two multi-objective tasks for a network of open-loop unstable, nonholonomic mobile inverted pendulum (MIP) robots, using a connected undirected graph for inter-agent communication. Using the first protocol, translationally invariant formations are achieved along with the synchronization of attitudes and heading velocities to desired values. Using the second protocol, the robots move into a formation and asymptotically track a trajectory. The control laws are based on the kinematic model of the mobile robot, and control torques for the MIPs are extracted using a two-loop control architecture. Both the protocols guarantee boundedness of the linear heading velocity, which is necessary for the stability of the two-loop control architecture. The proposed control laws are experimentally validated on indigenously built MIP robots. © 1993-2012 IEEE.

IEEE Transactions on Control Systems Technology

Formation Control and Trajectory Tracking of Nonholonomic Mobile Robots

In this paper we present a geometric control law for position and line-of-sight stabilization of the nonholonomic spherical robot actuated by three independent actuators. A simple configuration error function with an appropriately defined transport map is proposed to extract feedforward and proportional-derivative control law. Simulations are provided to validate the controller performance.

arXiv e-prints, arXiv: 1705.

Position and line-of-sight stabilization of spherical robot using feedforward proportional-derivative geometric controller

The concurrent control of spacecraft equipped with one-axis unilateral thruster and three-axis attitude actuator is considered in this paper. The proposed control law utilizes attitude control channels along with the single thrust force concurrently, for three-dimensional trajectory tracking and rendezvous with a target object. The concurrent controller also achieves orbital transfer to low Earth orbits with long range separation. To demonstrate the orbit transfer capabilities of the concurrent controller, a smooth elliptical orbit transfer trajectory for co-planar circular orbits is designed. The velocity change and energy consumption of the designed orbit transfer trajectory is observed to be equivalent to that of Hohmann transfer. © 2017 IAA

Acta Astronautica

Concurrent rendezvous control of underactuated spacecraft

This paper proposes a deterministic estimator for the estimation of the attitude of a rigid body. A deterministic estimator uses a minimal set of information and does not try to minimize a cost function or fit the measurements into a stochastic process. The proposed estimator obtains the attitude estimation utilizing only the properties of the rotational group SO(3). The information set required by the proposed estimator is a single vector information and rate gyro readings. For systems in which one of the rotational freedom is constrained, the proposed estimator provides an accurate estimate of the reduced attitude. The performance of the algorithm is verified on different experimental testbeds. © 1996-2012 IEEE.

IEEE/ASME Transactions on Mechatronics

A Deterministic Attitude Estimation Using a Single Vector Information and Rate Gyros

Geometric control of a spherical robot rolling on a horizontal plane with three independent inertia disc actuators is considered in this note. The dynamic model of the spherical robot in the geometric framework is used to establish the strong accessibility and small-time local controllability properties. Smooth stabilizability to an equilibrium fails for the nonholonomic spherical robot. A novel contribution of this note is a smooth, asymptotically stabilizing geometric control law for position and reduced attitude, which corresponds to an equilibrium submanifold of dimension one. From Brockett's condition, this is the best possible dimension of a smoothly stabilized equilibrium submanifold. We also present a novel smooth global tracking controller for tracking position trajectories. © 1963-2012 IEEE.

Geometric controllability and stabilization of spherical robot dynamics

This paper deals with the finite-time control of a quadrotor unmanned aerial vehicle about the hovering position by converting the linearized model to its Brunovsky canonical form. It is shown that all the sliding surfaces have relative degree five or three. Simulations are carried out using higher order continuous finite time controllers. © 2014 IFAC.

IFAC Proceedings Volumes (IFAC-PapersOnline)

Finite-time control of a quadrotor system

The mobile inverted pendulum (MIP) is a mechanical system that presents multiple control challenges. In particular, two objectives, namely desired position control and stabilization of the unstable pendulum-like central body, need to be simultaneously met. In this brief, we propose a novel smooth time-invariant controller to achieve the twin objectives. A feature of the controller design is that it readily extends to achieve waypoint tracking, another interesting task for mobile platforms. To validate the theory developed, an MIP has been indigenously designed and fabricated. Extensive experiments on the MIP have been performed. It has been observed that the system accomplishes position stabilization as well as waypoint tracking with negligible error. © 2012 IEEE.

Position stabilization and waypoint tracking control of mobile inverted pendulum robot

21st International Symposium on Mathematical Theory of Networks and Systems {\ldots}

Exponential Attitude Stabilization and Synchronization of Rigid Bodies

In this paper, we present a constructive method for the design of any order sliding surface using the necessary conditions for the existence of sliding surfaces for single-input affine nonlinear control systems. These conditions are a set of PDEs whose general solution will help in arriving at the sliding surfaces. The constructive design procedure is demonstrated on the cart-beam system to obtain a third-order sliding surface and on the inertia wheel pendulum system to obtain a fourth-order sliding surface. We validate the fourth-order terminal sliding mode control on inertia wheel pendulum with experimental result. © 2011 IFAC.

A constructive method for designing higher order sliding surfaces for single-input nonlinear system

We present a new nonlinear control law to stabilise the ball and beam system at a desired operating point. The control law is based on the interconnection and damping assignment-passivity-based control (IDA-PBC) methodology developed in Ortega, Spong, Gomez-Estern, and Blankenstien (Ortega, R., Spong, M., Gomez-Estern, F., and Blankenstien, G. (2002), 'Stabilization of Underactuated Mechanical Systems via Interconnection and Damping Assignment', IEEE Transactions on Automatic Control, 47, 1218-1233) that guarantees stability in the sense of Lyapunov. We present a novel proof of the asymptotic stability of the desired operating point. The validity of the proposed control law is demonstrated through the experimental results. © 2010 Taylor & Francis.

International Journal of Control

Asymptotic stabilisation of the ball and beam system: Design of energy-based control law and experimental results

In this paper, we extend the interconnection and damping assignment passivity-based control strategy to systems subjected to nonholonomic Pfaffian constraints. The results are applied to stabilize the pitch dynamics of an underactuated mobile inverted pendulum (MIP) robot subjected to nonholonomic constraints arising out of no-slip conditions. A novel feature of this paper is that we reduce the kinetic energy partial differential equations and potential energy partial differential equation to a set of ordinary differential equations, that are explicitly solved. ©2009 IEEE.

Proceedings of the IEEE Conference on Decision and Control

Extending interconnection and damping assignment passivity-based control (IDA-PBC) to underactuated mechanical systems with nonholonomic Pfaffian constraints: The mobile inverted pendulum robot