We present a framework for online generation of robust motion plans for robotic systems with
nonlinear dynamics subject to bounded disturbances, control constraints, and online state …

This paper derives results for the stabilizing and synchronizing controller for a generalized
class of nonlinear systems connected in chain configuration. The proposed procedure …

Various practical applications use filtered backstepping technique, which follows the same
procedure as backstepping design but uses high gain filters to circumvent the analytical …

Recent development of contraction theory-based analysis has opened the door for
inspecting differential behaviour of singularly perturbed systems. In this paper, a contraction …

Switched nonlinear differential equations have the ability to capture the discontinuous
behaviour of dynamical systems while modelling of systems like chemical processes, robots …

Contractive nonlinear systems possess numerous desirable properties, which have drawn
considerable attention from the control community. The work proposes an extended HGO …

This paper describes a novel method to design a saturated controller for a singularly
perturbed systems (SPS). These systems frequently exhibit complexity and uncertainty that …

This paper proposes a singular perturbation-based approach to design saturated controllers
for a class of nonlinear systems and shows its effectiveness in suppressing wing rock …

Integrating autonomous robots into safety-critical settings requires reasoning about
uncertainty at all levels of the autonomy stack. This thesis presents novel algorithmic tools …

A contraction-based backstepping control with disturbance observer is proposed for
dynamic positioning ship under environmental disturbances induced by waves, wind and …