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Arun D. Mahindrakar
Researcher at Indian Institute of Technology Madras
Publications - 69
Citations - 1397
Arun D. Mahindrakar is an academic researcher from Indian Institute of Technology Madras. The author has contributed to research in topics: Control theory & Underactuation. The author has an hindex of 17, co-authored 63 publications receiving 1182 citations. Previous affiliations of Arun D. Mahindrakar include Indian Institute of Technology Bombay & Supélec.
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Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
TL;DR: The problem of (asymptotic) stabilization of mechanical systems with underactuation degree one is considered and a state-feedback design is derived applying the interconnection and damping assignment passivity-based control methodology that endows the closed-loop system with a Hamiltonian structure with desired potential and kinetic energy functions.
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Control of a Class of Underactuated Mechanical Systems Using Sliding Modes
TL;DR: A sliding mode control algorithm is presented to robustly stabilize a class of underactuated mechanical systems that are not linearly controllable and violate Brockett's necessary condition for smooth asymptotic stabilization of the equilibrium, with parametric uncertainties.
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MEMS-Based IMU Drift Minimization: Sage Husa Adaptive Robust Kalman Filtering
Mundla Narasimhappa,Arun D. Mahindrakar,Vitor Campagnolo Guizilini,Marco H. Terra,Samrat L. Sabat +4 more
TL;DR: The Sage-Husa Adaptive Kalman Filter (SHAKF) is modified to incorporate time-varying noise estimator and robustifier, termed as MSHARKF, which demonstrates the effectiveness in reducing the drift and random noise in static and dynamic conditions as compared with other existing algorithms.
Robust Stabilization of a Class of Underactuated Mechanical Systems Using Time Scaling and
TL;DR: This paper presents a controller-design methodology for a class of underactuated mechanical systems that are affected by parametric uncertainties and external disturbances, and proves the nonexistence of a smooth control law for point-to-point stabilization of the mobile inverted pendulum.
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Robust Stabilization of a Class of Underactuated Mechanical Systems Using Time Scaling and Lyapunov Redesign
TL;DR: In this paper, a controller-design methodology for a class of underactuated mechanical systems that are affected by parametric uncertainties and external disturbances is presented, where the perturbations due to parametric uncertainty are mismatched, whereas those caused by external disturbances are of the matched type.