Optimal Sliding Mode Controller

  1. A chattering free optimal sliding mode controller for linear and nonlinear uncertain system is being designed.

  2. A chattering free optimal sliding mode controller for linear and nonlinear uncertain system is being designed.

  3. The optimal control and the SMC strategies are efficiently combined by designing an integral sliding surface where an integral term is incorporated into the sliding manifold.

  4. Ongoing work is to design the optimal controller for linear and nonlinear nominal system and incorporate the optimal controller with the higher order sliding mode controller to tackle the uncertainties.



Adaptive Control Strategies for Power Converters using Artificial Neural Networks (ANN)

  1. Power converters are an integral part of power supply systems of various residential and commercial applications.

  2. They are non-linear structures, inherently having discontinuous switching nature. They are widely susceptible to changes occurring at the input voltage and perturbations on the load current.

  3. Due to disturbances the desired profile of both capacitor voltage and inductor current gets affected adversely. Hence this research is focused on to investigate some of the effective methods of controlling by means of Artificial Neural Network.



Multiple model adaptive control

  1. Design of an adaptive controller using multiple models is proposed for nonlinear SISO/MIMO systems with uncertain parameters.

  2. Multiple identification models are distributed evenly in this region of uncertainty and their unknown parameters are tuned. Oscillatory transient response, poor parameter convergence and sluggish performance are found to be improved considerably.

  3. Currently, research is going on to design a controller for the Twin rotor MIMO system present in our lab.



Humanoid robotic manipulators

  1. Design of an adaptive backstepping sliding mode controller for a 6 dof serial manipulator (Coordinated Links Robotic Arm)

  2. The controller uses a PID sliding surface that ensures a fast transient response.

  3. The backstepping controller deals with mismatched uncertainties of the system which is otherwise not possible with only sliding mode control.



Fault tolerant control strategies for nonlinear uncertain systems

  1. The work focuses on the analysis and design of actuator fault tolerant robust adaptive controllers nonlinear MISO and MIMO systems.

  2. It deals with actuator partial loss of effectiveness, stuck failures, float failures with its applicability to aerospace systems. Inclusion of actuator nonlinearities is challenging from a designer's point of view.

  3. The objectives of the design is good transient performance and fast nominal performance recovery in faulty scenarios with minimum control energy.



Journal Publications

Patents

Conferences/Workshops



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Indian Institute of Technology Guwahati