J
Jaywant P. Kolhe
Researcher at Defence Research and Development Organisation
Publications - 15
Citations - 1000
Jaywant P. Kolhe is an academic researcher from Defence Research and Development Organisation. The author has contributed to research in topics: Robust control & State observer. The author has an hindex of 10, co-authored 15 publications receiving 854 citations. Previous affiliations of Jaywant P. Kolhe include Defence Institute of Advanced Technology.
Papers
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Journal ArticleDOI
Extended-State-Observer-Based Control of Flexible-Joint System With Experimental Validation
TL;DR: A feedback linearization (FL)-based control law made implementable using an extended state observer (ESO) is proposed for the trajectory tracking control of a flexible-joint robotic system and the closed-loop stability of the system under the proposed observer-controller structure is established.
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Performance Analysis of Generalized Extended State Observer in Tackling Sinusoidal Disturbances
TL;DR: It is shown that the higher order ESO offers improvement in the tracking of fast-varying sinusoidal disturbances, if the ESO bandwidth is chosen significantly larger than the frequency of the disturbance and ensuring that it is sufficiently smaller than unmodeled high frequency dynamics.
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Robust control of robot manipulators based on uncertainty and disturbance estimation
TL;DR: In this article, an uncertainty and disturbance estimation (UDE) based robust trajectory tracking controller for rigid link manipulators was proposed. But the UDE-based controller required joint velocities apart from the joint positions to achieve robustness.
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Robust Roll Autopilot Design for Tactical Missiles
TL;DR: A robust roll autopilot based on the extended state observer technique is proposed in this paper, which is robust to uncertainties, external disturbances, the airframe flexibility, and fast unmodeled sensor lags.
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Design and experimental validation of UDE based controller--observer structure for robust input--output linearisation
TL;DR: In this work, uncertainty and disturbance estimation (UDE) technique is employed to robustify an input--output linearisation (IOL) controller and it is shown that the proposed strategy offers a viable approach for designing implementable robust IOL controllers.