Sumeet Satpute

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In this paper, a new method is proposed for controller design for a class of stochastic underactuated mechanical system. A controller is designed for stochastic double integrator system derived by backstepping procedure and the idea is to cancel noise at its source without allowing it to enter the system dynamics. The proposed control strategy is then(More)
— The control of 4-DOF underactuated overhead crane system poses a challenging control problem as it has extra degree of freedom (DOF) compared to its popular 3-DOF variant. The extra DOF represents strong state coupling and hence more complicated system dynamics. We propose Geometric-Passivity Based Control (PBC) methodology for synthesis of nonlinear(More)
— In this paper, a nonlinear control law is proposed for the curved ball and beam system with the ball at the upright position. The stabilization of such a system is challenging, as compared to conventional ball and (straight) beam system, due to the presence of two unstable equilibrium points and the gyroscopic forces appearing in its dynamics. Further,(More)
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