Finding a suitable estimation of stability domain around stable equilibrium points is an important issue in the study of nonlinear dynamical systems. This paper intends to apply a set of analytical-numerical methods to estimate the region of attraction for autonomous nonlinear systems. In mechanical and structural engineering, autonomous systems could be found in large deformation problems or c...

Decentralized control methods are appealing in coordination of multiple vehicles due to their low demand for long-range communication and their robustness to single-point failures. An important approach in decentralized multi-vehicle control involves artificial potentials or digital pheromones. In this paper we explore a decentralized approach to path generation for a group of combat vehicles i...

Robotic missions beyond 2013 will likely be precursors to a manned habitat deployment on Mars. Such missions require robust control systems for long duration activities. Current single rover missions will evolve into deployment of multiple, heterogeneous cooperating robotic colonies. This paper describes the map-making memory and action selection mechanism of BISMARC (Biologically Inspired Syst...

a thesis submitted in partial fulfillment of the requirements for the degree of Bilas Chowdhury (107EE065) under the guidance of Rourkela CERTIFICATE This is to certify that the thesis entitled, " Control of Autonomous Underwater Vehicles " submitted by Mahendra Pratap Singh and Bilas Chowdhury in partial fulfillment of the requirements for the award of Bachelor of Technology Degree in Electric...

The control of nonholonomic and underactuated systems with symmetry is illustrated by the problem of controlling a bicycle. We derive a controller which, using steering and rear-wheel torque, causes a model of a riderless bicycle to recover its balance from a near fall as well as converge to a time parameterized path in the ground plane. Our construction utilizes new results for both the deriva...

For the time being, renewable energy source (RES) penetration has significantly increased in power networks, particularly microgrids. The overall system inertia is dramatically decreased by replacing traditional synchronous machines with RES. This negatively affects microgrid dynamics under uncertainties, lowering frequency stability, specifically islanded mode of operation. Therefore, this wor...

An example of a reactive, mobile, embedded control system that has received considerable attention during the last decade is the autonomous mobile robot. The flurry of research activities in this area can be directly traced to the many exciting current and future applications where robotic systems are safer/cheaper/more effective than their human counterparts. Examples of current applications i...