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Biosketch
Assistant Professor (July 2019-present): Deapartment of Electrical Engineering, Indian Institute of Technology Palakkad, Kerala, India.
Postdoctoral Researcher (2016-2019): Faculty of Science and Technology, University of Macau, Macau, China; Supervisor: Professor Carlos Silvestre
Ph.D. (2010-2016): Interdisciplinary program in Systems and Control Engineering, IIT Bombay, India; Supervisor: Professor Ravi N. Banavar
M.Tech. (2007-2009): Department of Electrical Engineering, VJTI Mumbai, India; Supervisor: Professor N. M. Singh
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Research
Stability/control of autonomous systems (robotics: ground/underwater/aerial vehicles); Geometric mechanics and nonlinear control; Optimal control; Adaptive control
Sponsored Projects:
[3] "Design and development of Indigenous, cost-effective Autonomous Tractor, for Indian Farming Conditions and Applications (A-TRACT)”, Ministry of Electronics and Information Technology (MeitY), Role: Principal Investigator (IIT Palakkad), Other Members: Prof. Santhakumar Mohan, CDAC- Thiruvanathapuram, CDAC, Hyderabad, and Mahindra & Mahindra (industry), 2024-27.
[2] SERB-National Mission on Interdisciplinary Cyber Physical Systems (NM-ICPS), IIT Palakkad I-Hub Foundation (IPTIF) sponsored project, titled “Aerial Dexterous Manipulators, Grasping and Transportation”, 2021-25.
[1] “Robust operational space motion control of a waist assistive powered exoskeleton”, DRDO-CAIR, Role: Co-PI, July 2021-Dec 2022 (18 months). Other members: Prof. Santhakumar Mohan (PI, IIT Palakkad), Dr Jayant Kumar Mohanta (Co-PI IIT Jodhpur)
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Teaching
EE2050: Signals and Systems Course (UG, odd semester)
EE3150: Analog Circuits Laboratory (UG, odd semester)
EE3140: Measurements and Instrumentation Laboratory (UG, even semester)
EE4150: Control Systems Laboratory (UG)
EE5515: Control of Nonlinear Dynamical Systems (PG, even semester)
EE3160: CAD Laboratory (UG, even semester)
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Research Group
Anil B (Ph.D. student, EE)
Mayank Pandey (MSc student, Mathematics)
Amala E G (Ph.D. student, EE)
Vidya A P (Ph.D. student, EE)
Somisetti Bhargav Sai Rajesh (MS student, EE)
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Additional Information
TitlePublicationsDescription
Anil, B., Gajbhiye, S. and Santhakumar Mohan. "A Lie group PMP approach for optimal stabilization and tracking control of autonomous underwater vehicles." International Journal of Robust and Nonlinear Control 35.1 (2025): 222-248, DOI: https://doi.org/10.1002/rnc.7645
Pandey, M., & Gajbhiye, S. (2024). Finite-Time Trajectory Tracking of a Four wheeled Mecanum Mobile Robot. arXiv preprint arXiv:2410.06762.
Anil, B., & Gajbhiye, S. (2024, December). Spherical Robot Control with Internal Actuation: A Variational Approach. In 2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV) (pp. 76-81). IEEE. DOI: 10.1109/ICARCV63323.2024.10821676
Vidya, A. P., & Gajbhiye, S. (2024, December). Formation Control of Multiple Unmanned Aerial Manipulators. In 2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV) (pp. 651-656). IEEE. DOI: 10.1109/ICARCV63323.2024.10821635
Anil, B., & Gajbhiye, S. (2024, July). Nonlinear PMP approach for Stabilization and Tracking Control of Wheeled Inverted Pendulum (WIP). In 2024 10th International Conference on Control, Decision and Information Technologies (CoDIT) (pp. 2941-2947). IEEE. DOI: 10.1109/CoDIT62066.2024.10708314
Anil, B., & Gajbhiye, S. (2024, May). Optimal 1D control problem of Wheeled Inverted Pendulum (WIP) system using PMP approach. In 2023 Second IEEE International Conference on Measurement, Instrumentation, Control and Automation (ICMICA) (pp. 1-6). IEEE. DOI: 10.1109/ICMICA61068.2024.10732838
B., Anil, Gajbhiye, S. "Optimal tracking control of an Autonomous Underwater Vehicle: A PMP approach", ISA Transactions (2024), Springer publications, DOI: https://doi.org/10.1016/j.isatra.2023.12.002
B., Anil, Gajbhiye, S. "Motion Planning with Obstacle Avoidance for Wheeled Inverted Pendulum System Based on PMP Approach", IEEE Conference on Systems and Control (ICSC) (2023), DOI: 10.1109/ICSC58660.2023.10449766
Gajbhiye, S., Cabecinhas, D., Silvestre, C., Cunha, R. "Geometric finite-time inner-outer loop trajectory tracking control strategy for quadrotor slung-load transportation", Nonlinear Dynamics (2021), Springer publications, DOI: 10.1007/s11071-021-07026-6
Gajbhiye, S., Banavar, R. N., Delgado, S. "Symmetries in the Wheeled Inverted pendulum mechanism". Nonlinear Dynamics (2017), vol. 90(1), pp. 391-403, Springer publication, DOI: 10.1007/s11071-017-3670-3
Gajbhiye, S., Banavar, R. N. "Geometric modeling and local controllability of a spherical mobile robot actuated by an internal pendulum". International Journal of Robust and Nonlinear Control (2016), vol. 26(11), pp. 2436-2454, John Wiley and Sons publication, DOI: 10.1002/rnc.3457
Saradagi, A., Menta, S., Gajbhiye, S., Mahindrakar, A., Banavar, R. N. "Poincaré representation of the equations of motion of a spherical robot actuated by internal rotors", In proceedings of 4th Indian Control Conference (ICC), pp. 196-201, IIT Kanpur, Kanpur, India, January 2018.
Gajbhiye, S., Banavar, R. N. "Geometric approach to tracking and stabilization for a spherical robot actuated by internal rotors", In proceedings of 10th IFAC Symposium on Nonlinear Control Systems (NOLCOS), vol. 49(18), pp. 820-825, California, USA, August 2016.
Delgado, S., Gajbhiye, S., Banavar, R. N. "Reduced equations of motion for a wheeled inverted pendulum", In proceedings of 8th Vienna International Conference on Mathematical Modelling (MATHMOD), vol. 48(1), pp. 328-333, Vienna, Austria, February 2015.
Gajbhiye, S., Banavar, R. N. "Local Equilibrium Controllability of a spherical robot actuated by a pendulum", In proceedings of 52nd IEEE Conference on Decision and Control (CDC), vol. 4, pp. 1616-1621, Florence, Italy, December 2013.
Gajbhiye, S., Banavar, R. N. "Euler-Poincare Equations for a spherical robot actuated by a pendulum", In proceedings of 4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non-Linear Control (LHMNC), vol. 4, pp 72-77, Bologna, Italy, August 2012.
