This paper develops a guidance framework for cooperative transportation of a rigid payload by two uncrewed aerial vehicles (UAVs) to stationary and maneuvering landing platforms. A virtual equivalent-agent representation is first introduced to describe the translational motion of the rigidly coupled UAV-payload system,...
This paper addresses the control of multi-input strict-feedback nonlinear systems subject to a joint capacity constraint, in which the admissible input set is a coupled subset of the individual actuator limits. Unlike existing constraint-handling methods that enforce actuator bounds channel by channel and may unnecessa...
Saurabh Kumar, Lohitvel Gopikannan, S. R. Kumar et al.· 0 citations
This paper addresses predefined-time resilient consensus of leaderless second-order nonlinear multi-agent systems under denial-of-service (DoS) attacks, motivated by coordination requirements in safety-critical applications by developing a switching sliding-mode protocol that achieves position and velocity consensus.
Lohitvel Gopikannan, S. R. Kumar, A. Sinha· 0 citations
Fully actuated UAVs provide enhanced maneuverability and accurate six-degree-of-freedom (6-DoF) control, making them well-suited for demanding tasks such as aerial manipulation, operation in confined environments, and fault-tolerant missions. However, the resulting over-actuation poses challenges in control allocation...
Rohit V. Nanavati, Abhinav Sinha, S. R. Kumar· International Workshop on Va...· 0 citations
This paper develops Admissibility-Preserving Control (APC), a realization-centered safety-critical control framework for strict-feedback systems subject to asymmetric actuator limits, time-varying output constraints, and actuator-rate limitations. APC denotes the overall control architecture, whereas an Admissibility-P...
Saurabh Kumar, S. R. Kumar, Abhinav Sinha· 4 citations
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