sandeep gupta
@iitk.ac.in
phd research scholar electrical engineering department
indian Institute of Technology Kanpur India
EDUCATION
M.Tech
RESEARCH INTERESTS
neural control theory
Scopus Publications
Scholar Citations
Scholar h-index
Scholar i10-index
Scopus Publications
Jay Hitendrakumar Khatri, Sandeep Gupta, Jayant Kumar Mohanta, and Santhakumar Mohan
ACM
A "Hybrid" vehicle is one that has the potential to operate in more than one environment. This work demonstrates a robust backstepping control algorithm for the autonomous transmedia operation of a hybrid unmanned aerial-underwater vehicle in the presence of uncertainty. The simplified mathematical model is considered to depict the entire controller design procedure. The numerical simulation is carried out to demonstrate the proposed control system’s efficiency and compare it to existing PID control. The vehicle’s transient behaviour is compared in six different transmedia manoeuvres between air and water. The suggested control system is evaluated for stability in aerial manoeuvres and transmedia manoeuvres with respect to the conventional PID algorithm in the MATLAB-Simulink environment to demonstrate the superiority of the proposed algorithm.
Jay Khatri, Sandeep Gupta, and Jayant Kumar Mohanta
IEEE
This paper proposes a robust backstepping control scheme for the autonomous operation of a hybrid unmanned underwater-aerial vehicle while considering uncertainty in the system model. The simplified mathematical model is presented to show the complete control design process. The simulation is performed to show the effectiveness of the proposed control scheme and with comparative analysis with existing PID and conventional backstepping control. The transient behaviour of drone and aerial and underwater maneuvering is simulated using the PID and proposed Robust backstepping algorithm. The transient behaviour of the vehicle is addressed with six possible maneuvers between air and water media. The simulation results are presented and compared to show the superiority of the proposed backstepping control algorithm over the conventional PID control algorithm with gravity compensation. The Performance parameters are also evaluated and presented to show the superiority of the proposed algorithm in aerial as well as underwater maneuvers.
Sandeep Gupta, Jayant Kumar Mohanta, and Ajmal Jaleel
IEEE
Multi-unmanned aerial vehicle (UAV) systems have shown several benefits over single UAV systems such as increased efficiency to perform tasks simultaneously, redundancy, and improved decision in case of collecting data and environmental information. There are multiple challenges in designing such systems. One of them is communication between multiple drones as it requires a reliable and robust system to ensure that the drones can communicate effectively with each other and with the operator. In this paper, we focused on designing a path-tracking control algorithm and a policy for a disconnected UAV to rejoin its network. For the path-tracking control problem, we propose a smooth control strategy based on higher-order sliding mode control. A look-up table-based network rejoin policy is proposed for the disconnected UAV. Using the Lyapunov stability criteria, it has been shown that the proposed control scheme is stable. Matlab-based numerical simulation is performed to validate the proposed combined strategy of path-tracking and rejoin policy for multi-UAV systems.
Sandeep Gupta, Jayant Kumar Mohanta, Ajmal Jaleel, and Suvendu Samanta
IEEE
In this work, a non-singular terminal mode sliding mode controller is developed for output tracking with unmodeled dynamics, parameter uncertainty, and constrained disturbances, allowing the micro aerial robot to climb the wall. In order to successfully eliminate chattering in control action, it is recommended to use a modified power rate reaching law. Using Lyapunov’s criterion, we demonstrate stability over finite intervals of time. The effectiveness of the suggested control for trajectory tracking and wall climbing under conditions of parametric uncertainty and disturbances is shown via simulation. The suggested controller is compared to conventional sliding mode techniques to validate the claimed decrease in chattering. The suggested control strategy for free-flight and wall-climbing operations in GPS-denied outdoor settings is validated by real-time trials with a modified Crazyflie nano-quadcopter.
Sandeep Gupta, Tushar Sandhan, Suvendu Samanta, and Samrat Dutta
IEEE
Abstract-The quadrotor’s altitude(height), attitude(roll, pitch, yaw), and position (x-y directions) controller design are challenging research areas because of their non-linear coupled dynamics and under-actuated system architecture. This study proposes a quadrotor control system based on neural networks of the Elman recurrent learning mechanism. To solve the desired trajectory tracking problem for a quadrotor, a direct inverse control strategy utilizing Elman recurrent neural networks (ERNN) is demonstrated and tested through MATLAB simulation. The simulation findings show that the ERNN-based control systen operates with a minimum mean square error when using the reference flight testing dataset. Theerror-based comparativ analysis shows that ERNN-based altitude, attitude, and position controllers outperform the backpropagation neural network, according to our experiments.
Sandeep Gupta, Suvendu Samanta, and Samrat Dutta
IEEE
This paper discusses the advantages of multiunmanned aerial vehicle (UAV) systems over single UAV systems for various applications. The focus is on designing a network rejoin policy for a disconnected UAV from the Flying ad-hoc network (FANET) using a finite-time convergent, chattering-free continuous control strategy. A second-order sliding mode control approach is utilized for position control, and the stability of the proposed control scheme is demonstrated using Lyapunov stability criteria. Numerical simulations are conducted to validate the proposed control scheme and network rejoin policy, and error-tracking results are compared with existing sliding mode control-based methods.
Sandeep Gupta, Tushar Sandhan, and Suvendu Samanta
IEEE
In this article, wall climbing is performed with the micro aerial robot using a proposed finite time convergent sliding mode controller for output tracking with unmodeled dynamics, parameter uncertainty, and bounded disturbances. A modified power rate reaching law is proposed to reduce chattering in control action effectively. Finite-time stability is shown using Lyapunov stability criteria. Simulation results show the efficacy of the proposed control for trajectory tracking and wall climbing in presence of parametric uncertainty and disturbances. The proposed controller is compared with existing sliding mode methods to verify the reduction in chattering using the proposed control scheme. Real-time experiments are performed with a modified Crazyflie nano-quadcopter to validate the proposed control scheme for free-flight and wall-climbing operations in outdoor scenarios.
Sandeep Gupta and Jayant Kumar Mohanta
IEEE
The most attractive renewable energy resource that provides clean electricity via solar PV panels is solar irradiation received from the Sun. Solar energy is available mainly during the daytime, but solar photovoltaic (PV) panels can produce maximum power due to low efficiency. Hence, maximum power point tracking (MPPT) methods are used with solar PV systems. The interface required between solar PV panels and the load is a DC-DC converter, a power electronics device. This paper proposes a neural network-based PID controller for the boost converter. The well-known back prorogation neural network algorithm is used with PID structure to design a controller for the boost converter. The study is carried out with the help of MATLAB/Simulink software to show the test results. The simulations’ outcome shows the proposed controller’s efficacy when used with solar PV systems.
Sandeep Gupta, Jayant Kumar Mohanta, and Suvendu Samanta
IEEE
Multi-unmanned aerial vehicle systems have several advantages compared to one UAV system, which can be better utilized in different applications such as long-distance surveillance, natural disasters, wildlife welfare, and geology exploration. In this article, we focus on designing a network rejoin policy for a disconnected Unmanned aerial vehicle from the Flying adhoc network(FANET). A finite time convergent chattering free continuous control is also proposed to relocate itself to a neighbor UAV (connected to a network) position. A second-order sliding mode control approach is adopted in position control, which is chattering-free. The finite-time convergence analysis of position, altitude and attitude tracking error is presented. The stability proof of the proposed control scheme is provided using Lyapunov stability criteria. The effectiveness of the proposed control scheme and network rejoin policy is presented through numerical simulations. The proposed control scheme is also compared with existing sliding mode-based methods and performance evaluation is also presented in terms of an increasing number of UAVs in the ad-hoc network.
Sandeep Gupta and Suvendu Samanta
IEEE
This article proposes an event-triggered based robust control approach for the perching application of a micro aerial robot. A finite time position tracking controller is developed. A recursive finite time stable manifold has been presented for the convergence of the error in finite time. Next, control laws for all the control inputs are derived from the designed stable sliding manifold. Furthermore, from the Lyapunov stability theory, periodic event-triggering conditions are derived to minimize resource utilization. The experimental results are presented to validate designed controller towards the application of environmental monitoring via perching of a micro aerial robot on vertical outdoor surface.
Sandeep Gupta, Jayant Kumar Mohanta, Laxmidhar Behera, and Suvendu Samanta
IEEE
This paper proposes an event-triggered control approach for the application of vertical wall-perching of an aerial robot. A finite time position tracking controller is developed for nano-quadcopter. A recursive finite time stable manifold has been designed for the convergence of the error states to zero in finite time. Next, sliding mode control laws for all the control inputs are derived from the designed stable sliding manifold. Furthermore, from the Lyapunov stability theory, periodic event-triggering conditions are derived to minimize resource utilization. The Periodic event trigger controller provides the control laws next trigger time. The perching of nano-quadcopter will help in long time surveillance in remote locations.
Sandeep Gupta and Laxmidhar Behera
Springer Nature Singapore
Padmini Singh, Sandeep Gupta, Laxmidhar Behera, Nishchal K. Verma, and Saeid Nahavandi
Institute of Electrical and Electronics Engineers (IEEE)
This article proposes the perching of nano-quadrotor using self-trigger finite-time second-order continuous control on a vertical wall. In perching, nano-quadrotor evolves from 3-D space and aligned in 2-D space. Although quadrotor dynamics are quite complex, but it is a combination of subsystems, and each subsystem is a relative degree two-type system. The designed controller converges all the position error and derivative of position error simultaneously, and in reaching phase only, hence there is no sliding phase. The proposed controller is also chattering free. Therefore, it does not actuate the unwanted dynamics of the quadrotor. Stability analysis using the Lyapunov stability theory has been done, and also analysis of the finite-time convergence is given. Furthermore, using the Lipschitz method, self-triggering conditions are derived for the controller, which gives the next triggering instant of the actuation. This mechanism reduces the task of the controller as well as the sensor. Experimental studies for nano-quadrotor perching on the vertical wall are conducted in indoor and outdoor scenarios. Through the experimental study, it is also validated that the proposed controller provides a better result than the second-order twisting controller.
Padmini Singh, Sandeep Gupta, Laxmidhar Behera, and Nishchal K. Verma
IEEE
This paper presents perching of quadrotor on vertical wall using the sum of square (SOS) method based event-triggered second order relay free control. In perching, task quadrotor moves from 3-dimensional cartesian space to 2-dimensional cartesian space. The quadrotor is an underactuated multi-input multi-output device, where four control inputs control twelve states. Here a second-order homogenous relay free controller is designed for trajectory tracking, which is easy to develop and also exhibits the property of fast convergence. Next, to mitigate the disturbance of the system, a second-order homogenous super twisting based disturbance observer is clubbed with the relay free controller. The stability of the proposed controller and disturbance observer is derived using Polya's method. Furthermore, for reducing the controller's effort and the disturbance observer effort, SOStools are used for finding the threshold on event-triggering error. Using event-triggering conditions allowable number of packet-dropouts from controller to plant side are also derived. Simulation Results shows that the proposed controller performs better than the existing fast nonsingular terminal sliding mode control (FNTSMC). Experiments are conducted on rough vertical wall to validate the proposed theory.