arXiv subjects

Pallavi Sinha

Publications and source records attributed to Pallavi Sinha.

2 recordsLinked to original sources

arXiv2022

Set input-to-state stability under input delays for nonlinear systems with disturbances

The study proposes new results on the set input-to-state stability (ISS) subject to a small input time delay for compact, invariant sets that contains the origin. First, using the nonlinear small-gain theory, we prove a Razumikhin-type theorem that ensures ISS for sets in the setup of functional differential equations (FDEs) with disturbances. Next we show how this theorem can be used to ensure set ISS for nonlinear systems with input delays and disturbances. In comparison to the existing research on set ISS robustness with respect to small time delays at the input, our results are rather broad, retaining the ISS gain and without any constraints on time delayed states. The effectiveness of the method is illustrated through two case-studies addressing set stability for classes of nonlinear oscillators of practical interest.

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arXiv2022

Consensus of networked double integrator systems under sensor bias

A novel distributed control law for consensus of networked double integrator systems with biased measurements is developed in this article. The agents measure relative positions over a time-varying, undirected graph with an unknown and constant sensor bias corrupting the measurements. An adaptive control law is derived using Lyapunov methods to estimate the individual sensor biases accurately. The proposed algorithm ensures that position consensus is achieved exponentially in addition to bias estimation. The results leverage recent advances in collective initial excitation based results in adaptive estimation. Conditions connecting bipartite graphs and collective initial excitation are also developed. The algorithms are illustrated via simulation studies on a network of double integrators with local communication and biased measurements.

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