Publications

PhD. Thesis

Kant, N. (2020). Exploiting impulsive inputs for stabilization of underactuated robotic systems: theory and experiments. Michigan State University.

PhD Committee:

Dr. Ranjan Mukherjee

Professor, Mechanical Engineering, MSU

ASME Fellow

Dr. Hassan Khalil

Professor Emeritus, Electrical Engineering, MSU

IEEE and IFAC Fellow

Dr. Guoming Zhu

Professor, Mechanical Engineering, MSU

ASME Fellow

Dr. Vaibhav Srivastava

Associate Professor, Electrical Engineering, MSU

Below, you’ll find my research publications. For questions on any specific publication or to request a copy, feel free contact me via email.

Journal Papers

N. Kant, R. Mukerjee. Generating Stable Periodic Motion in Underactuated Systems in the Presence of Parameter Uncertainty: Theory and Experiments. Mechatronics, (2024): accepted, under production.
A. Khandelwal, N. Kant, R. Mukherjee. Design of Impact-Free Gaits for Planar Bipeds and their Stabilization Using Impulsive Control. IEEE Robotics and Automation Letters, (2023).
A. Khandelwal, N. Kant, R. Mukherjee. Nonprehensile Manipulation of a Stick Using Impulsive Forces. Nonlinear Dynamics, 111.1 (2023): 113-127.
N. Kant. Damping Oscillation of Suspended Payload by Varying String Length. ASME Letters in Dynamic Systems and Control, 2.1 (2022): 011003.
N. Kant, R. Mukherjee. Juggling a Devil-Stick: Hybrid Orbit Stabilization using the Impulse Controlled Poincare Map. IEEE Control Systems Letters, 6 (2021): 1304-1309.
N. Kant and R. Mukherjee. Non-prehensile Manipulation of a Devil-Stick: Planar Symmetric Juggling Using Impulsive Forces. Nonlinear Dynamics, 103 (2021): 2409-2420.
N. Kant, R. Mukherjee, and H. K. Khalil. Stabilization of Energy Level-Sets of Underactuated Systems Exploiting Impulsive Braking. Nonlinear Dynamics, 106 (2021): 279-293.
N. Kant and R. Mukherjee. Orbital Stabilization of Underactuated Systems using Virtual Holonomic Constraints and Impulse Controlled Poincare Maps. Systems & Control Letters, 146 (2020): 104813.
N. Kant, R. Mukherjee, D. Chowdhury and H. K. Khalil. Estimation of the Region of Attraction of Underactuated Systems and its Enlargement using Impulsive Inputs. IEEE Transactions on Robotics, 35.3 (2019): 618-632.
N. Kant and R. Mukherjee. Impulsive Dynamics and Control of the Inertia-Wheel Pendulum. IEEE Robotics and Automation Letters, 3.4 (2018): 3208-3215.
N. Kant, G. Zhu, R. Mukherjee. Optimal Periodic Impulsive Control for Orbital Stabilization of Underactuated Systems. ASME Letters in Dynamic Systems and Control, 5.2 (2025) .
N. Kant, R. Mukherjee. Investigating Bistable Dynamics of a Coupled Oscillatorwith Similarities to Seizure Patterns in Epilepsy. IEEE Control Systems Letters, Accepted Dec (2024).

Under Review/Preparation

N. Kant, A. Khandelwal, R. Mukherjee. Human Inspired Algorithm for Robotic Flattening of Wrinkled Cloth. IEEE Transactions on Systems, Man, and Cybernetics: Systems, under preparation.

Conference Proceedings(Peer-Reviewed)

N. Kant, A. Aryal., R. Ranganathan, R. Mukherjee, C. Owen. Learning Human Strategy for Flattening Wrinkled Cloth. IEEE International Conference on Systems, Man, and Cybernetics, 2024. (To appear)
A. Khandelwal, N. Kant, R. Mukherjee. Impact-Free Gaits for Planar Bipeds: Changing Walking Speed and Gait. Modeling, Estimation and Control Conference, 2024. (To appear)
A. Khandelwal, N. Kant, R. Mukherjee. Maneuvering a Stick in Three-Dimensional Space Using Impulsive Forces. In International Conference on Nonlinear Dynamics and Applications (pp. 199-209). Cham: Springer Nature Switzerland, 2023.
N. Kant, R. Mukherjee. Orbital Stabilization of Underactuated Systems Using Time Period Regulation. In 2023 American Control Conference (ACC) (pp. 4691-4696). IEEE.
N. Kant, R. Chitkara, P. Pramod. Modeling Rack Force for Steering Maneuvers in a Stationary Vehicle. SAE Technical Paper (No. 2021-01-1287).
N. Kant, R. Mukherjee. Energy-Based Orbital Stabilization of Underactuated Systems Using Impulse Controlled Poincare Maps. In 2021 American Control Conference (ACC) (pp. 1724-1729). IEEE.
N. Kant, R. Mukherjee and H. K. Khalil. Stabilization of Homoclinic Orbits of Two Degree-of-Freedom Underactuated Systems. In 2019 American Control Conference (ACC) (pp. 699-704). IEEE.
N. Kant, R. Mukherjee and H. K. Khalil. Swing-Up of the Inertia Wheel Pendulum using Impulsive Torques. In 2017 Annual Conference on Decision and Control (CDC) (pp. 5833-5838). IEEE.
N. Kant, D. Chowdhury, R. Mukherjee, and H. K. Khalil. An Algorithm for Enlarging the Region of Attraction using Trajectory Reversing. In 2017 American Control Conference (ACC) (pp. 4171-4176). IEEE.
D. Chowdhury, N. Kant, R. Mukherjee, and H. K. Khalil. Enlarging the Region of Attraction of Equilibria of Underactuated Systems using Sum of Squares and IMM. In 2017 American Control Conference (ACC) (pp. 893-898). IEEE.