Chidre Shravista Kashyap

Derivative-Free Generalized Multivariable Super-Twisting Control for Constrained Euler-Lagrange Systems

Robotic manipulators performing payload lift-and-transfer must track prescribed trajectories under abrupt load changes, with limited actuation and inaccurate plant knowledge. Such plants are inherently described by multivariable Euler--Lagrange~(EL) dynamics with cross-coupling established through inertial and Coriolis...