Dr. Anil B

Autonomous Systems: Research & Development

Motivation: Autonomous robotic systems operate in complex, dynamic environments where stability, adaptability, and constraint handling are critical. These systems, ranging from ground vehicles to underwater and aerial platforms, require advanced control strategies that ensure reliable performance under nonlinear dynamics, physical constraints, and real-world uncertainties. 

Research focus: My primary research focuses on the stability and control of nonlinear autonomous systems, with emphasis on optimal control, adaptive and geometric control, and finite-time stability analysis. I work on developing robust control frameworks for systems such as Autonomous Underwater Vehicles (AUVs), Wheeled Inverted Pendulum (WIP) robots, Spherical Mobile Robots (SMRs), and Mecanum-Wheeled mobile platforms. My research combines rigorous theoretical methods such as Lyapunov-based design, Geometric Optimal Control, Backstepping, and constraint handling with practical hardware-in-the-loop (HIL) implementations for real-time control and validation on a Mecanum-Wheeled mobile robot platform. I also explore trajectory planning and tracking for ground and aerial robots, precision control in agricultural robotics, and autonomous landing strategies for aerial manipulators on dynamic targets.

Scientific aim:  Through this integrated approach, I aim to advance the reliability, responsiveness, and autonomy of robotic systems operating in uncertain and constrained environments.

Robotic systems in this research