Akshay Nanjangud

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Amputee locomotion can benefit from recent advances in robotic prostheses, but their control systems design poses challenges. Prosthesis control typically discretizes the nonlinear gait cycle into phases, with each phase controlled by different linear controllers. Unfortunately, real-time identification of gait phases and tuning of controller parameters(More)
It is shown that any number of MIMO plants that have no zeros in the region of instability can be simultaneously stabilized using low order linear, time-invariant integral-action controllers. These plants may be stable or unstable and may have poles anywhere in the complex plane. The common controller achieves asymptotic tracking of step-input references(More)
Linear models of bicycles with rigidly attached riders, operating at different forward speeds, are considered as a challenging platform for the simultaneous stabilization problem. It is shown that any number of such models obtained at reasonable speeds can be simultaneously stabilized using simple, low-order controllers with only the steering torque as(More)
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