Communication and Control for Robotic Systems

1. Front Matter

   Pages i-xvi

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2. Control Theories for Robotic Systems

   1. Front Matter

      Pages 1-1

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   2. Performance Evaluation of Adaptive Dither Control Frameworks for Nonlinear Piezoactuator

      • Sandip Jana, Saikat Kumar Shome, Arpita Mukherjee, Partha Bhattacharjee

      Pages 3-12

   3. Comparative Performance Study of Different Controllers for Nonlinear Piezoelectric Stack Actuator

      • Sandip Jana, Saikat Kumar Shome, Arpita Mukherjee, Partha Bhattacharjee

      Pages 13-23

   4. PID Controller Design for Reference Tracking of Single Link Manipulator

      • Sayan Das, Naiwrita Dey

      Pages 25-43

   5. Performance Comparison Between Higher-Order Sliding Mode and Fixed Boundary Layer Sliding Mode Controller for a 10-DoF Bipedal Robot

      • Koceila Cherfouh, Jason Gu, Umar Farooq, Muhammad Usman Asad, Rajeeb Dey, Nabanita Adhikary et al.

      Pages 45-62

   6. Adaptive Backstepping-Based Non-singular Finite-Time Sliding Mode Controller for Suspension of Maglev Platforms

      • Nabanita Adhikary, Jobin Mathew

      Pages 63-88

   7. Backstepping-Based Nonlinear Control of Underactuated 2-DoF Gyroscope for Robust Performance Analysis

      • Manish Patel, Bhanu Pratap

      Pages 89-104

3. Communication and Control for Robotic Systems

   1. Front Matter

      Pages 105-105

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   2. Adaptive Backstepping Control of Multiple Mobile Robots Under Limited Communication; An Event-Triggered Approach

      • Sami Al Issa, Indrani Kar

      Pages 107-122

   3. Adaptive Robust Control of Tele-operated Master-Slave Manipulators with Communication Delay

      • Nabanita Adhikary, Rajeeb Dey, Muhammad Usman Asad, Jason Gu, Umar Farooq, Rupak Dutta

      Pages 123-140

   4. A Multi-Master Single-Slave Teleoperation System Through Composite State Convergence

      • Muhammad Usman Asad, Jason Gu, Umar Farooq, Rajeeb Dey, Nabanita Adhikary, Rupak Datta et al.

      Pages 141-153

   5. Event-Triggered Integral Sliding Mode Control for an Uncertain Euler–Lagrange System with Actuator Saturation

      • Krishanu Nath, Asifa Yesmin, Manas Kumar Bera

      Pages 155-175

   6. AKIRA—A Voice Based Virtual Assistant with Authentication

      • Vishnu Sai Bhonsle, Sailaja Thota, Surekha Thota

      Pages 177-191

   7. Survey on Internet of Things Based Intelligent Wireless Sensor Network for Fire Detection System in Building

      • Arpita Mukherjee, Saikat Kumar Shome, Partha Bhattacharjee

      Pages 193-200

4. Computation Paradigm for Robotic Systems

   1. Front Matter

      Pages 201-201

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   2. Nonlinear State Estimation Using Adaptive Gaussian Filters with One-Step Randomly Delayed Measurements

      • Poluri Sri Mannarayana, Aritro Dey

      Pages 203-220

   3. Extended Kalman Filter-based Attitude Estimation using Magnetometer- and Sun Sensor-Aided MEMS Gyros

      • Jiljo K. Moncy, Kesavabrahmaji Karuturi

      Pages 221-235

   4. Characterisation of Multi-sensor 6D Pose Determination System for Underslung Winged Body

      • K. L. N. Sai Nitish, Jiljo K. Moncy, M. Dinesh Kumar, B. Karthik, V. T. Basker, E. S. Padma Kumar

      Pages 237-253

   5. Tracking and Interception of a Ballistic Target on Reentry Using Adaptive Gaussian Sum Quadrature Filters

      • Rahul Radhakrishnan, Manika Saha, Shovan Bhaumik, Nutan Kumar Tomar

      Pages 255-272

This book is a collection of high-quality research articles. The book includes topics specific to the emerging areas of control for robotic systems, wireless communication, and development of embedded systems for robotic applications. The book integrates three important aspects of automation, namely (i) communication, (ii) control, and (iii) embedded design for robotic applications. This book is unique as it provides a unified framework for analysis, design, and deployment of the robotic applications across various engineering and non-engineering disciplines including the three primary aspects mentioned above. Furthermore, the emerging research and development work pertaining to the deployment of intelligent, nonlinear, and embedded control for robotic system for non-standard operating environment due to the widespread application of robotics technology for societal benefit is also a focal point of the book.

• Network Control System
• Communication Delay
• Medical Robotics
• Hapctic Device Interactions
• Bilateral Teleoperations
• Embedded Control System
• Multi-agent System
• Cooperative Control
• Intelligent Control
• Embedded Design of Fuzzy Logic Controller
• Robust and Adaptive Control
• Parameter Estimation
• SOCCER 2020

• Department of Electrical and Computer Engineering, Dalhousie University, Halifax, Canada

  Jason Gu

• Department of Electrical Engineering, National Institute Of Technology Silchar, Silchar, India

  Rajeeb Dey

• Department of Electrical Engineering, National Institute of Technology Silchar, Silchar, India

  Nabanita Adhikary

Jason Gu is currently Professor in the Department of Electrical Engineering at Dalhousie University, Canada. Professor Jason Gu received the bachelor’s degree in electrical engineering and information science from the University of Science and Technology of China, in 1992, the master’s degree in biomedical engineering from Shanghai Jiao Tong University, in 1995, and the Ph.D. degree from the University of Alberta, Canada, in 2001. He is currently Full Professor of electrical and computer engineering at Dalhousie University, Canada. He is also Cross-Appointed Professor with the School of Biomedical Engineering for his multidisciplinary research work. His research interests include robotics, biomedical engineering, rehabilitation engineering, neural networks, and control. He is Fellow of the Engineering Institute of Canada. He is IEEE Canada President-elect, 2018-2019, and IEEE Canada President, 2020-2021.


Rajeeb Dey is currently Assistant Professor in the Department of Electrical Engineering at the National Institute of Technology, Silchar, India. He holds M.Tech. degree in control system engineering, from the Indian Institute of Technology, Kharagpur, India, and Ph.D. degree also in control system engineering from Jadavpur University, Kolkata, India. He is Senior Member of IEEE Control System Society, Member Institution of Engineers (India), Executive Committee Member of ACDOS (Advanced Control and Dynamic Optimization Society), and Life Member of System Society of India. His research interest includes design of robust control, optimization based on LMI techniques, time-delay systems, intelligent control, decentralized control and control applications, and biomedical control applications.


Nabanita Adhikary is currently Assistant Professor in the Department of Electrical Engineering at the National Institute of Technology, Silchar, India. She holds Ph.D. degree in control system engineering, from the Indian Institute of Technology Guwahati, India. She is Member of the IEEE Control System Society and IEEE Robotics and Automation Society. Her research interests include nonlinear control system design, robust control, time-delay control, intelligent control, robotics, and networked control systems.

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