sandeep gupta

@iitk.ac.in

phd research scholar electrical engineering department
indian Institute of Technology Kanpur India

sandeep gupta


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https://researchid.co/sandeep_perching

EDUCATION

M.Tech

RESEARCH INTERESTS

neural control theory
21

Scopus Publications

53

Scholar Citations

4

Scholar h-index

1

Scholar i10-index

Scopus Publications

  • Perching of quadrotor using adaptive second-order continuous control in the presence of uncertainties
    Sandeep Gupta, Anuj Nandanwar, Narendra Kumar Dhar, Laxmidhar Behera, Suvendu Samanta
    Scientific Reports, 2026
    The perching maneuver enables a quadrotor to make stable contact with vertical surfaces for prolonged monitoring, which significantly enhances mission endurance and energy efficiency in inspection and surveillance tasks. To achieve a stable perching maneuver, this study proposes an adaptive second-order continuous control (ASOCC) in contact-based inspection applications. A novel finite-time convergent disturbance observer compensates model uncertainties and external disturbances, including aerodynamic and wall effects. The closed-loop Lyapunov stability of the proposed observer-controller system is also established. The effectiveness of the ASOCC strategy is validated through extensive simulation studies under various conditions, including step response, model uncertainties, and external disturbances. Comparative evaluations against existing control strategies reveal that the proposed method offers higher precision, stronger robustness, and better resistance to external disturbances when assessed through standard tracking error-based performance indices. Additionally, experimental trials verify that the quadrotor consistently performs a stable perching maneuver on vertical walls under both indoor and outdoor conditions.
  • Modelling and robust control of a miniature wall-climbing aerial robot
    Sandeep Gupta, Anuj Nandanwar, Narendra Kumar Dhar, Laxmidhar Behera, Suvendu Samanta
    International Journal of Control, 2026
  • Active Alignment Control for Contact-Based Inspection with a Single Range Sensor on Micro Quadrotors
    Sandeep Gupta, Anuj Nandanwar, Narendra Kumar Dhar, Suvendu Samanta, Laxmidhar Behera
    2025 11th Indian Control Conference Icc 2025 Proceedings, 2025
    Accurate alignment is critical for stable physical contact operations such as wall perching or inspection using quadrotors. Misalignment at the moment of contact can induce rotation about the contact point, often leading to perching failure or damage. To address this, we present a minimal-sensing control framework that uses a single forward-facing range sensor to estimate the wall angle in real time via a yaw sweep maneuver. The estimated angle is then used to regulate the quadrotor’s yaw and approach velocity, ensuring perpendicular alignment before contact. The method is implemented on a micro quadrotor and validated through docking experiments on vertical surfaces. Results show a significant improvement in the estimation of yaw angle and stable contact with the vertical surface. The proposed method achieves over 90% success rate and maintains estimation errors within ±2° compared to open-loop alignment. This work demonstrates that combining simple sensing with active control enables robust physical interaction in unstructured environments.
  • Adaptive Second-order Continuous Control Design for Micro Quadrotor Interaction with Environment
    Sandeep Gupta, Anuj Nandanwar, Narendra Kumar Dhar, Suvendu Samanta, Laxmidhar Behera
    2025 11th Indian Control Conference Icc 2025 Proceedings, 2025
    Perching maneuver enables quadrotor to make stable contact with vertical surfaces for prolonged monitoring, significantly enhancing mission endurance and energy efficiency in inspection and surveillance tasks. This work presents the development of an adaptive second-order continuous control (ASOCC) strategy for the perching application of a quadrotor operating under disturbances and model uncertainties. A linear sliding surface guarantees finite-time convergence of the tracking error. A new finite-time convergent disturbance observer is proposed to estimate and compensate for unknown but bounded uncertainties in the system model. The closed-loop stability of the proposed controller, including the observer dynamics, is established through Lyapunov stability theory. Simulation study validates the effectiveness of the proposed approach. A comparative analysis with the standard SOCC method demonstrates the improved performance, robustness, and disturbance rejection capability of the ASOCC strategy.
  • Evolutionary Search of Optimal Hyperparameters for Learning Various Robot Manipulation Tasks
    Archit Sharma, Sandeep Gupta, Peeyush Thakur, Narendra Dhar, Laxmidhar Behera
    2024 IEEE Congress on Evolutionary Computation CEC 2024 Proceedings, 2024
    This paper presents a comprehensive study of robotic manipulation tasks, focusing on the movement planning and task-handling capabilities of robots. We introduce a novel approach that employs Dynamic Movement Primitives (DMP) for movement planning, coupled with an evolutionary algorithm, specifically the Genetic Algorithm (GA), for hyperparameter tuning of the DMP. Our method significantly enhances the system's precision and control, thereby facilitating a more accurate output. Furthermore, we conduct a comparative analysis of two optimization techniques - user-based and GA-based. Our findings indicate that the GA-based technique offers superior precision, underscoring its potential in advancing robotic manipulation tasks.
  • Dynamic Hand Gesture Recognition for Robot Manipulator Tasks
    Dharmendra Sharma, Peeyush Thakur, Sandeep Gupta, Narendra Kumar Dhar, Laxmidhar Behera
    Conference Proceedings IEEE International Conference on Systems Man and Cybernetics, 2024
    This paper proposes a novel approach to recognizing dynamic hand gestures facilitating seamless interaction between humans and robots. Here, each robot manipulator task is assigned a specific gesture. There may be several such tasks, hence, several gestures. These gestures may be prone to several dynamic variations. All such variations for different gestures shown to the robot are accurately recognized in real-time using the proposed unsupervised model based on the Gaussian Mixture model. The accuracy during training and real-time testing prove the efficacy of this methodology.
  • Complete Task Learning from a Single Human Demonstration by Identifying Fundamental Sub-tasks for Robot Manipulator Execution
    Anurag Maurya, Dharmendra Sharma, Archit Sharma, Peeyush Thakur, Sandeep Gupta, Narendra Kumar Dhar, Laxmidhar Behera
    2024 10th Indian Control Conference Icc 2024 Proceedings, 2024
    This work tackles the problem of teaching robot manipulators to carry out intricate tasks independently by observing human demonstrations. By breaking down the whole task into smaller basic sub-tasks, a reliable model is developed by associating human actions with equivalent robotic ones more easily so that manipulator actions can be programmed efficiently. To enable real-time sub-task level identification, vision transformer (ViViT), TimeSformer, and VideoMAE models are used separately as encoder architecture and trained using video data to anticipate the sub-task levels. These models are compared, and the accuracy aggregated on different tasks is 64.36% (ViViT), 71.26% (TimeSformer) and 81.03% (VideoMAE). The identified sub-tasks are executed by a robot manipulator using the trajectories learned through the dynamic movement primitives (DMP). Real-time experiments show that this approach greatly enhances the robot's ability to reliably and precisely reproduce complex tasks. The proposed solution also emphasizes how flexible the system is to various task modifications and how it can be used in multiple healthcare, home, and industrial settings. The novelty lies in the notion of finding semantic connections between primitive sequences from video data.
  • Modelling and Robust Control of Hybrid Unmanned Aerial-Underwater Robot in the Presence of Uncertainty
    Jay Hitendrakumar Khatri, Sandeep Gupta, Jayant Kumar Mohanta, Santhakumar Mohan
    ACM International Conference Proceeding Series, 2023
    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.
  • On Sliding Mode based Event-Trigger Control of a Micro Arial Robot for Perching on Vertical Outdoor Structure
    Sandeep Gupta, Suvendu Samanta
    5th International Conference on Power Control and Embedded Systems Icpces 2023, 2023
    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.
  • Design of PID Controller using Artificial Neural Network for Step-up Power Converter in Photovoltaic Systems
    Sandeep Gupta, Jayant Kumar Mohanta
    2023 International Conference on Power Instrumentation Energy and Control Piecon 2023, 2023
    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.
  • Semi-Autonomous Robust Control Design for a Wall Climbing-type Micro Aerial Robot in Outdoor Scenario
    Sandeep Gupta, Tushar Sandhan, Suvendu Samanta
    Proceedings of the 10th International Conference on Signal Processing and Integrated Networks Spin 2023, 2023
  • Design of Network Rejoin Policy in Multi-UAVs Flying Ad-hoc Network and Robust Tracking Control Scheme
    Sandeep Gupta, Suvendu Samanta, Samrat Dutta
    Proceedings of the 10th International Conference on Signal Processing and Integrated Networks Spin 2023, 2023
  • Design of Path Tracking Control and Flying Ad-hoc Network Rejoin Policy in Multi-UAV System
    Sandeep Gupta, Jayant Kumar Mohanta, Ajmal Jaleel
    2023 International Conference on Control Communication and Computing Iccc 2023, 2023
  • Design of Network Rejoin Policy in Multi-UAVs Flying Ad-hoc Network using Finite Time Convergent Position Control Scheme
    Sandeep Gupta, Jayant Kumar Mohanta, Suvendu Samanta
    2023 International Conference on Power Instrumentation Energy and Control Piecon 2023, 2023
  • Dynamic Modelling and Robust Backstepping Control of Hybrid Unmanned Amphibious Multirotor Robot for Smooth Media Transition in the Presence of Uncertainty
    Jay Khatri, Sandeep Gupta, Jayant Kumar Mohanta
    2023 International Conference on Unmanned Aircraft Systems Icuas 2023, 2023
  • Semi-Autonomous Non-singular Terminal Sliding Mode Control of a Micro Aerial Robot for Outdoor Wall Climbing Operation
    Sandeep Gupta, Jayant Kumar Mohanta, Ajmal Jaleel, Suvendu Samanta
    2023 International Conference on Control Communication and Computing Iccc 2023, 2023
  • Intelligent Control Design for Quadrotor Perching Application using Neural-Network Augmented Direct Inversion Control Approach
    Sandeep Gupta, Tushar Sandhan, Suvendu Samanta, Samrat Dutta
    2023 International Conference on Advancement in Computation and Computer Technologies Incacct 2023, 2023
  • Design and Neural Control for Insect-Copter for Smooth Perching on Outdoor Vertical Surface
    Sandeep Gupta, Laxmidhar Behera
    Lecture Notes in Electrical Engineering, 2022
  • Control Design for Vertical Wall-perching of Aerial Robot with Event-Triggered Control Approach
    Sandeep Gupta, Jayant Kumar Mohanta, Laxmidhar Behera, Suvendu Samanta
    Proceedings 2022 IEEE Silchar Subsection Conference Silcon 2022, 2022
  • Perching of Nano-Quadrotor Using Self-Trigger Finite-Time Second-Order Continuous Control
    Padmini Singh, Sandeep Gupta, Laxmidhar Behera, Nishchal K. Verma, Saeid Nahavandi
    IEEE Systems Journal, 2021
  • Sum of Square based Event-triggered Control of Nano-quadrotor in Presence of Packet Dropouts
    Padmini Singh, Sandeep Gupta, Laxmidhar Behera, Nishchal K. Verma
    2021 International Conference on Unmanned Aircraft Systems Icuas 2021, 2021

RECENT SCHOLAR PUBLICATIONS

  • Design and neural control for insect-copter for smooth perching on outdoor vertical surface
    S Gupta, L Behera
    International Conference on Electrical and Electronics Engineering, 373-382 , 2022
    2022
    Citations: 7
  • Sum of square based event-triggered control of nano-quadrotor in presence of packet dropouts
    P Singh, S Gupta, L Behera, NK Verma
    2021 International Conference on Unmanned Aircraft Systems (ICUAS), 767-776 , 2021
    2021
    Citations: 8
  • Neural Network-based Motion Control Algorithm for Perching Nano-Quadrotor on Outdoor Vertical Surface
    S Gupta, L Behera
    International Conference On Computational Intelligence (ICCI 2021),Pune … , 2021
    2021
    Citations: 7
  • Perching of Nano-quadrotor on Vertical Wall Using Periodic Event-Triggered Control
    S Gupta, L Behera
    12th National Conference and Exhibition on Aerospace and Defence Related … , 2021
    2021
    Citations: 3
  • Perching of nano-quadrotor using self-trigger finite-time second-order continuous control
    P Singh, S Gupta, L Behera, NK Verma, S Nahavandi
    IEEE Systems Journal 15 (4), 4989-4999 , 2020
    2020
    Citations: 28

MOST CITED SCHOLAR PUBLICATIONS

  • Perching of nano-quadrotor using self-trigger finite-time second-order continuous control
    P Singh, S Gupta, L Behera, NK Verma, S Nahavandi
    IEEE Systems Journal 15 (4), 4989-4999 , 2020
    2020
    Citations: 28
  • Sum of square based event-triggered control of nano-quadrotor in presence of packet dropouts
    P Singh, S Gupta, L Behera, NK Verma
    2021 International Conference on Unmanned Aircraft Systems (ICUAS), 767-776 , 2021
    2021
    Citations: 8
  • Design and neural control for insect-copter for smooth perching on outdoor vertical surface
    S Gupta, L Behera
    International Conference on Electrical and Electronics Engineering, 373-382 , 2022
    2022
    Citations: 7
  • Neural Network-based Motion Control Algorithm for Perching Nano-Quadrotor on Outdoor Vertical Surface
    S Gupta, L Behera
    International Conference On Computational Intelligence (ICCI 2021),Pune … , 2021
    2021
    Citations: 7
  • Perching of Nano-quadrotor on Vertical Wall Using Periodic Event-Triggered Control
    S Gupta, L Behera
    12th National Conference and Exhibition on Aerospace and Defence Related … , 2021
    2021
    Citations: 3