Research Interests:

1. Modeling and control of dynamical Systems.

2. Fuzzy Logic Control (Type-1, Type-2 and Type-3)

3. Fuzzy Logic in Decision Making.

4.  Machine Learning and Soft Computing.

PhD Thesis title: "Modeling and Analysis of Takagi-Sugeno type Fuzzy PID Control Systems"

This work was primarily dedicated towards finding mathematical models of SISO and TITO Takagi-Sugeno fuzzy controllers using type-1 fuzzy sets. An in-depth analysis was performed on the developed mathematical models. Computational aspects of the fuzzy controllers were also investigated. Stability results were established for SISO controllers using Small Gain theorem. Several simulation examples were presented to validate the controller structures. The tuning of fuzzy controller parameters was performed using genetic algorithm. An experimental study was performed on ball positioning in MagLev system.

Current Focus: Control of renewable energy systems.

Type-1 Fuzzy PID Controller

Interval Type-2 Fuzzy Sets

Modeling and Control of Snake Robot: 

Snake robot modeling is done by bond graph approach. This snake robot is a hyper redundant robot having 9 links with 11 DOF. An interval type-2 fuzzy PD controller is designed for lateral undulation gait of the snake robot. (collaborated with IIT Roorkee, India)