Robotics and Control Engineering Research Group

Publications

Patents
  1. P.R. Pagilla, A. Seshadri*, M. M. Haque, and K. Hopcus, Method for Adaptive Guiding of Webs, US Patent No. 8,554,354, October 2013.
  2. P.R. Pagilla and A. Seshadri*, Fiber Optic Web Edge Sensor, US Patent No. 8,324,604, December 2012.
  3. R.T. Ratliff* and P.R. Pagilla, Commutational Ramp Loading Apparatus and Method, US Patent No. 7,602,580, October 2009.
  4. R.T. Ratliff* and P.R. Pagilla, Method and Apparatus for Adaptive Control of a Disk Drive in the Presence of Non-linear Magnetic Bias, US Patent No. 7,456,595, November 2008.
Patent Applications and Disclosures
  1. D. Sagapuram, P.R. Pagilla, A. Yalamanchili, Method for Continous Production of Metal Strip and Sheet
    Coils, Patent Application, January 2024.
  2.  A. Yalamanchili, D. Sagapuram, P.R. Pagilla, Method for controlling strip thickness and surface finish
    in metal peeling based strip manufacturing, Disclosure of Invention, January 2024.
  3. A. Yalamanchili, D. Sagapuram, P.R. Pagilla, Method for real-time closed-loop control of strip transport
    and coiling in metal peeling, Disclosure of Invention, January 2024.
  4. B. Meng, D. Sagapuram, P.R. Pagilla, Apparatus and method for finishing of metal strips with shape
    irregularities, Disclosure of Invention, January 2024.
  5. R. Narashimhan, P. Dave, A. Devkota, P.R. Pagilla, D. Sagapuram, Cutting tool system, cutting insert
    and tool holder for metal peeling, Disclosure of Invention, January 2024.
  6. R. Narashimhan, P. Dave, A. Devkota, P.R. Pagilla, D. Sagapuram, Method for producing steel strip
    from high copper containing recycled scrap, Disclosure of Invention, January 2024.
Journal Articles
  1. S. Hopko*, R.K. Mehta, and P.R. Pagilla, “Brain-Behavior Relationships of Trust in Shared Space Human-Robot Collaboration,” ACM Transactions on Human-Robot Interaction, Nov 2023 (accepted).
  2. Y. Zhong*, Y. Wen, A. Karthikeyan, P.R. Pagilla, R.K. Mehta, S. Bukkaptnam, “Detecting Anomalous Robot Motion in Collaborative Robotic Manufacturing Systems,” IEEE Internet of Things Journal, Dec 2023 (DOI: 10.1109/JIOT.2023.3339067).
  3. S. Hopko*, R.K. Mehta, and P.R. Pagilla, “Physiological and perceptual consequences of trust in collaborative robots: An empirical investigation of human and robot factors,” Applied Ergonomics, Vol. 106, 2023.
  4. J. Hu* and P. R. Pagilla, “View planning for object pose estimation using point clouds: an active robot perception approach,” IEEE Robotics and Automation Letters, Also presented at the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, Vol. 7, No. 4, pp. 9348–9255, 2022.
  5. Y. Wen* and P. R. Pagilla, “Path-constrained and collision-free optimal trajectory planning for robot manipulators,” IEEE Transactions on Automation Science and Engineering, May 2022.
  6. Y.Wen*, D. J. Jaeger*, P. R. Pagilla, “Uniform coverage tool path generation for robotic surface finishing of curved surfaces,” IEEE Robotics and Automation Letters, vol. 7, no. 2, 2022.
  7. J. P. Gomez-Constante*, P. R. Pagilla, K. R. Rajagopal, “A thermomechanical and photochemical description of the phase change process in roll-to-roll nanoimprinting lithography” Intl. Journal of Engineering Science, vol. 169, Dec 2021.
  8. Y. Wen* and P. R. Pagilla, “A novel 3D path following control framework for robots performing surface finishing tasks,” Mechatronics, vol. 76, 102540, 2021.
  9. G. Ma* and P.R. Pagilla, “Event-triggered equivalent-input-disturbance estimation and control for disturbance attenuation,” IFAC Journal of Systems and Control, vol 16, 100137, 2021.
  10. J. Hu* and P. R. Pagilla, “Dual-edge gear chamfering with registration error compensation,” Robotics and Computer-Integrated Manufacturing, October vol. 69, 2021.
  11. Z. Jin* and P. R. Pagilla, “Shared Control With Efficient Subgoal Identification and Adjustment for Human-Robot Collaborative Tasks,” IEEE Transactions on Control Systems Technology, 30 (1), 2022.
  12. S.K. Hopko*, R. Khurana*, R.K. Mehta, and P. R. Pagilla, “Effect of cognitive fatigue, operator sex, and robot assistance on task performance metrics, workload, and situation awareness in human-robot collaboration,” IEEE Robotics and Automation Letters, 6 (2), 2021.
  13. R. Landers, K. Barton, S. Devasia, T. Kurfess, P.R. Pagilla, M. Tomizuka, “A Review of Manufacturing Process Control,” ASME Journal of Manufacturing Science and Engineering, 142(11), November 2020.
  14. G. Ma*, X. Liu, P.R. Pagilla, S.S. Ge, “Asynchronous repetitive control of switched systems via periodic event-based dynamic output feedback,” IMA Journal of Mathematical Control and Information, 37 (2), 2020.
  15. S. Darbha, S. Konduri*, and P. R. Pagilla, “Vehicle Platooning with Constant Spacing Strategies and Multiple Vehicle Look Ahead Information,” IET Intelligent Transportation Systems, 14 (6), 2020.
  16. J. P. Gomez-Constante, P. R. Pagilla, K. R. Rajagopal, “A thermomechanical description of the mold filling process in roll-to-roll nanoimprinting lithography” Applications in Engineering Science, vol. 1, March 2020.
  17. X. Liu, G. Ma*, P.R. Pagilla, S.S. Ge, “State-estimator-based asynchronous repetitive control of discretetime Markovian switching systems,” Complexity, vol. 2020, Article ID 6195162, 13 pages, 2020. https://doi.org/10.1155/2020/6195162.
  18. X. Liu, G. Ma*, P.R. Pagilla, S.S. Ge, “Dissipativity-based asynchronous repetitive control for Markovian jump systems with time delays and partly accessible mode detection probabilities,” IEEE Trans. on Control of Network Systems, vol. 7, no. 3, pp. 1212–1224, Sep 2020.
  19.  Z. Jin*, P. R. Pagilla, H. Maske*, G. Chowdhary, “Task learning, intent prediction, and adaptive blended shared control with application to excavators,” IEEE Transactions on Control Systems Technology, 29 (1), 2020.
  20. G. Ma*, X. Liu, P.R. Pagilla, S.S. Ge, “Periodic event-based asynchronous filtering of switched systems,” Journal of The Franklin Institute, 356 (16), 2019.
  21. G. Ma*, X. Liu, P.R. Pagilla, S.S. Ge, “Tracking of periodic trajectories for switched systems under time varying asynchronous switching,” ASME Journal of Dynamic Systems, Measurement and Control, 141 (8), 2019.
  22. G. Ma*, X. Liu, P.R. Pagilla, S.S. Ge, “Periodic Event-Triggered Dynamic Output Feedback Dissipative Control with Stochastic Detection,” IEEE Trans. on Circuits and Systems II, 67 (6), 2019.
  23. G. Ma* and P.R. Pagilla, “Periodic event-triggered dynamic output feedback control of switched systems,” Nonlinear Analysis: Hybrid Systems, 31, 247–264, 2019.
  24. G. Ma*, X. Liu, P.R. Pagilla, “Robust repetitive control of semi-Markovian jump systems,” Intl. Journal of Systems Science, 50 (1), pp. 116 – 129, 2019.
  25. E.O.C. Torres* and P.R. Pagilla, “Spatially Dependent Transfer Functions for Web Lateral Dynamics in Roll-to-Roll Manufacturing,” ASME Transactions, Journal of Dynamic Systems, Measurement and Control, 140 (11), 2018.
  26. S. Darbha, S. Konduri*, P.R. Pagilla, “Benefits of V2V Communication for Autonomous and Connected Vehicles,” IEEE Transactions on Intelligent Transportation Systems, 20 (5), 2018.
  27. X. Liu, G. Ma*, P.R. Pagilla, S.S. Ge, “Dynamic output feedback asynchronous control of networked Markovian jump systems,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, 50 (7), 2018.
  28. K.A. Jabbar* and P.R. Pagilla, “Modeling and Analysis of Web Tension Dynamics Considering Thermal and Viscoelastic Effects in Roll-to-Roll Manufacturing,” ASME Journal of Manufacturing Science and Engineering, 140 (5), 2018.
  29. S. Konduri*, P.R. Pagilla and S. Darbha “A Combinatorial Approach for Developing Ring Communication Graphs for Vehicle Formations,” ASME Journal of Dynamic Systems,  Measurement, and Control, 139 (10), 2017.
  30. E.O.C. Torres* and P.R. Pagilla, “Temperature Distribution in MovingWebs Heated by Radiation Panels: Model Development and Experimental Validation,” ASME Journal of Dynamic Systems, Measurement, and Control, 139 (5), 2017.
  31. S. Konduri*, E.O.C. Torres and P.R. Pagilla, “Dynamics and control of a differential drive robot with wheel slip: application to coordination of multiple robots,” ASME Journal of Dynamic Systems, Measurement, and Control, 139 (1), 2017.
  32. P.R. Raul* and P.R. Pagilla, “Load Speed Regulation in Compliant Mechanical Transmission Systems Using Feedback and Feedforward Control Actions,” ISA Transactions, 63, pp. 355-364, 2016.
  33. M. Cimino and P.R. Pagilla, “Reactive Power Control for Synchronous Generators Connected in Parallel,” IEEE Trans. on Power Systems, 31 (6), 2016.
  34. A. Seshadri* and P.R. Pagilla, “Modeling and control of a rotating turret winder used in roll-to-roll manufacturing,” Control Engineering Practice, 41, pp. 164-175, 2015.
  35. P.R. Raul* and P.R. Pagilla, “Design and implementation of adaptive PI control schemes for web tension control in roll-to-roll manufacturing,” ISA Transactions, 56, pp. 276-287, 2015.
  36. Y. Lu* and P.R. Pagilla, “Modeling of Temperature Distribution in Moving Webs in Roll-to-Roll Manufacturing,” ASME J. of Thermal Sci. and Eng. Appl., 6(4), 041012, 2014.
  37.  P.R. Raul*, S.G. Manyam*, P.R. Pagilla, and S. Darbha “Output Regulation of Nonlinear Systems with Application to Roll-to-Roll Manufacturing Systems,” IEEE/ASME Transactions on Mechatronics, 20 (3), 2015.
  38.  A. Seshadri*, P.R. Raul*, and P.R. Pagilla, “Analysis and Minimization of Interaction in Decentralized Control Systems with Application to Roll-to-Roll Manufacturing Systems,” IEEE Trans. on Control Systems Technology, 22 (2), pp. 520-530, 2014.
  39. A. Seshadri, P.R. Pagilla, and J.E. Lynch, “Modeling Print Registration in Roll-to-Roll Printing Presses,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 135, no. 3, May 2013.
  40. C. Branca, P.R. Pagilla, and K.N. Reid, “Governing Equations for Web Tension and Velocity in the Presence of Non-Ideal Rollers,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 135, no. 1, January 2013.
  41. A. Seshadri* and P.R. Pagilla, “Adaptive Control of Web Guides,” Control Engineering Practice, vol. 20, pp. 1353–1365, December 2012.
  42. R.V. Dwivedula* and P.R. Pagilla, “Effect of Compliance and Backlash on the Output Speed of a Mechanical Transmission System,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 134, no. 3, May 2012.
  43. V. Gassmann*, D. Knittel, P.R. Pagilla, M.A. Bueno, “Fixed-order H∞ tension control in the unwind section of a web handling system using a pendulum dancer,” IEEE Transactions on Control Systems Technology, vol. 20, no. 1, pp. 173–180, January 2012.
  44. P.R. Pagilla and Y. Diao*, “Resonant Frequencies in Web Process Lines Due to Idle Rollers and Spans,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 133, no. 5, November 2011.
  45.  M. Cimino* and P.R. Pagilla, “Optimal Location of Mouse Sensors on Mobile Robots for Position Sensing,” Automatica, vol. 47, no. 10, pp. 1315–1319, October 2011.
  46. M. Cimino* and P.R. Pagilla, “Input-State Model Matching and Ripple-Free Response for Dual-Rate Systems,” Systems & Control Letters, vol. 60, no. 10, pp. 815–824, June 2011.
  47.  S. Darbha and P.R. Pagilla, “Limitations of Employing Undirected Information Flow Graphs for the Maintenance of Rigid Formations for Heterogeneous Vehicle Collections,” Int. J. of Eng. Sci. (2010), doi:10.1016/j.ijengsci.2010.08.013.
  48. M. Cimino* and P.R. Pagilla, “Conditions for Ripple-Free Response of Multirate Systems Using Linear Time-Invariant Controllers,” Systems & Control Letters, vol. 59, no. 8, pp. 510-516, August 2010.
  49. M. Cimino* and P.R. Pagilla, “Design of Linear Time-Invariant Controllers for Multirate Systems,” Automatica, vol. 46, pp. 1315–1319, 2010.
  50. A. Seshadri* and P.R. Pagilla, “Optimal Web Guiding,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 132, no. 1, January 2010. Received the 2011 Rudolf Kalman Best Paper Award from the ASME Dynamic Systems and Control Division.
  51.  M. Cimino* and P.R. Pagilla, “A Design Technique for Multi-Rate Discrete-Time Systems,” IEEE Transactions on Control Systems Technology, vol. 17, no. 6, pp. 1342–1349, November 2009.
  52. Y. Zou* and P.R. Pagilla, “Distributed Constraint Force Approach for Coordination of Multiple Mobile Robots,” Journal of Intelligent and Robotic Systems, vol. 56, no. 1, pp. 5–22, September 2009.
  53. A. Seshadri* and P.R. Pagilla, “Web Flutter Measurement Sensor,” IEEE Sensors Journal, vol. 9, no. 7, pp. 834–835, July 2009.
  54.  Y. Zou*, P.R. Pagilla, and R.T. Ratliff, “Distributed Formation Flight Control Using Constraint Forces,” AIAA Journal of Guidance, Dynamics, and Control, vol. 32, no. 1, January/February 2009.
  55. A. Seshadri*, P. Peddi-Ravi*, and P.R. Pagilla, “Fiber Optic Sensor for Web Velocity Measurement,” IEEE Sensors Journal, vol. 8, no. 7, pp. 1099-1104, July 2008.
  56.  R.T. Ratliff* and P.R. Pagilla, “Commutational Output Feedback Control for Disc Drive Ramp Loading,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 130, no. 2, pp. March 2008.
  57. Y. Zou*, P.R. Pagilla, and E.A. Misawa, “Formation of a Group of Vehicles With Full Information Using Constraint Forces,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 129, no. 5, pp. 654–661, September 2007.
  58.  A. Seshadri* and P.R. Pagilla, “Design and Development of a New Edge Sensor for Web Guiding,” IEEE Sensors Journal, vol. 7, no. 5, pp. 698–706, May 2007.
  59. P.R. Pagilla, R.V. Dwivedula*, and N. Siraskar*, “A Decentralized Model Reference Adaptive Controller for Large-Scale Systems,” IEEE/ASME Transactions on Mechatronics, vol. 12, no. 2, pp. 154–163, April 2007.
  60. Y. Zhu* and P.R. Pagilla, “Decentralized Output Feedback Control of a Class of Large-Scale Interconnected Systems using Linear Matrix Inequalities (LMIs),” IMA Journal of Mathematical Control and Information, vol. 24, pp. 57–69, March 2007.
  61. R.T. Ratliff* and P.R. Pagilla, “Design and Analysis of a Disc Drive Actuator for Computational Ramp Loading,” ASME Journal of Mechanical Design, vol. 129, no. 3, pp. 346–360, March 2007.
  62. P.R. Pagilla, N. Siraskar*, and R.V. Dwivedula*, “Decentralized Control of Web Processing Lines,” IEEE Transactions on Control Systems Technology, vol. 15, no. 1, pp. 106–117, January 2007.
  63. Y. Zhu* and P.R. Pagilla, “Bounds on the Solution of the Time-Varying Linear Matrix Differential Equation ˙P (t) = AH(t)P(t)+P(t)A(t)+Q(t),” IMA Journal of Mathematical Control and Information, vol. 23, pp. 269–277, September 2006.
  64. Y. Zhu* and P.R. Pagilla, “Adaptive Controller and Observer Design for a Class of Nonlinear Systems,” ASME Journal of Dynamic Systems, Measurement and Control, vol. 128, no. 3, pp. 712–717, September 2006.
  65. Y. Zhu* and P.R. Pagilla, “Adaptive Estimation of Time-Varying Parameters in Linearly Parameterized Systems,” ASME Journal of Dynamic Systems, Measurement and Control, vol. 128, no. 3, pp. 691– 695, September 2006.
  66.  R.T. Ratliff* and P.R. Pagilla, “Commutational Ramp Load Control Using a Conventional Disc Drive Actuator,” IEEE Transactions on Control Systems Technology, vol. 14, no. 3, pp. 436–442, May 2006.
  67. B. Yu* and P.R. Pagilla, “Design and Implementation of a Robust Switching Control Scheme for a Class of Constrained Robot Tasks,” International Journal of Systems Science, vol. 37, no. 5, pp. 301–319, April 2006.
  68. R.V. Dwivedula*, Y. Zhu*, and P.R. Pagilla, “Characteristics of Active and Passive Dancers: A Comparative Study,” Control Engineering Practice, vol. 14, no. 4, pp. 409–423, April 2006.
  69. R.T. Ratliff* and P.R. Pagilla, “Design, Modeling, and Seek Control of a Voice-Coil Motor Actuator With Nonlinear Magnetic Bias,” IEEE Transactions on Magnetics, vol. 41, no. 6, pp. 2180–2188, June 2005.
  70. P.R. Pagilla and Y. Zhu*, “A Decentralized Output Feedback Controller for a Class of Large-Scale Interconnected Nonlinear Systems,” ASME Journal of Dynamic Systems, Measurement and Control, vol. 127, pp. 167–172, March 2005.
  71.  Y. Zhu* and P.R. Pagilla, “A Note on the Necessary Conditions for the Algebraic Riccati Equation,” IMA Journal of Mathematical Control and Information, vol. 22, pp. 181–186, 2005.
  72. P.R. Pagilla and Y. Zhu*, “Adaptive Control of Mechanical Systems with Time-Varying Parameters and Disturbances,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 126, pp. 520–530, September 2004.
  73. P.R. Pagilla, I. Singh*, and R.V. Dwivedula*, “A Study on Control of Accumulators in Web Processing Lines,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 126, pp. 453–461, September 2004.
  74. P.R. Pagilla and B. Yu*, “An Experimental Study of Planar Impact of a Robot Manipulator,” IEEE/ASME Transactions on Mechatronics, vol. 9, no. 1, pp. 123–128, March 2004.
  75. P.R. Pagilla, R.V. Dwivedula*, Y. Zhu*, and L.P. Perera*, “Periodic Tension Disturbance Attenuation in Web Process Lines using Active Dancers,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 125, pp. 361–371, September 2003.
  76. P.R. Pagilla and B. Yu*, “Mechatronic Design and Control of a Robot System Interacting with an External Environment,” International Journal of Mechatronics, vol. 12, no. 6, pp. 791–811, 2002.
  77. P.R. Pagilla, “Control of Contact Problem in Constrained Euler-Lagrange Systems,” IEEE Transactions on Automatic Control, vol. 46, no. 10, pp. 1595–1599, October 2001.
  78. P.R. Pagilla and M. Tomizuka, “An Adaptive Output Feedback Controller for Robot Arms: Stability and Experiments,” Automatica, A Journal of the International Federation of Automatic Control, vol. 37, no. 7, pp. 983–995, July 2001.
  79. P.R. Pagilla, S.S. Garimella, L.H. Dreinhoefer, and E.O. King, “Dynamics and Control of Accumulators in Continuous Strip Processing Lines,” IEEE Transactions on Industry Applications, vol. 37, no. 3, pp. 934–940, May/June 2001. Received the prize paper award from the IEEE IAS Metals Industry Committee.
  80. P.R. Pagilla and B. Yu*, “A Stable Transition Controller for Constrained Robots,” IEEE/ASME Transactions on Mechatronics, vol. 6, no. 1, pp. 65–74, March 2001.
  81. P.R. Pagilla and B. Yu*, “Robotic Surface Finishing Processes: Modeling, Control, and Experiments,” ASME Journal of Dynamic Systems, Measurement and Control, vol. 123, pp. 93–102, March 2001.
  82.  P.R. Pagilla, B. Yu*, and K.L. Pau*, “Adaptive Control of Time-Varying Mechanical Systems: Analysis and Experiments,” IEEE/ASME Transactions on Mechatronics, vol. 5, no. 4, pp. 410–418, December 2000.
  83.  P.R. Pagilla, E.O. King, L.H. Dreinhoefer, and S.S. Garimella, “Robust Observer-Based Control of an Aluminum Strip Processing Line,” IEEE Transactions on Industry Applications, vol. 36, no. 3, pp. 865–870, May 2000.
  84. P.R. Pagilla and M. Tomizuka, “Contact Transition Control of Nonlinear Mechanical Systems Subject to a Unilateral Constraint,” ASME Journal of Dynamic Systems, Measurement and Control, vol. 119, pp. 749–759, December 1997.
Book Chapters
  1. Z. Jin* and P.R. Pagilla, Blended Shared Control in Collaborative Robotics, in S.K. Gupta, V. Krovi (eds.), Recent Advances in Industrial Robotics, World Scientific, 2020 (in press).
  2. P.R. Pagilla and N. Siraskar*, Robust Decentralized Controllers for Large-Scale Interconnected Systems: Applications to Web Handling Systems, in L. Menini, L. Zaccarian, C.T. Abdallah (eds.), Current Trends in Nonlinear Systems and Control, Springer-Verlag, 2006.