Chitralekha Mahanta
Papers
12
Total Citations
404
H-Index
7
About
Chitralekha Mahanta is a leading researcher in advanced control systems, with a primary focus on robotic manipulators, sliding mode control, and adaptive nonlinear control. Her most impactful contribution is the development of an adaptive second-order terminal sliding mode controller for robotic manipulators, a seminal work that has garnered 248 citations and established a foundation for robust, high-precision trajectory tracking in uncertain environments. She has further advanced the field through innovative designs such as inverse dynamics-based robust control for servo actuators and fuzzy guaranteed cost controllers for nonlinear systems. Mahanta’s research extends to coordinated dual-arm robotics, where she has pioneered position synchronization controllers using integral sliding mode and backstepping techniques, validated through experimental implementations on the COOL (Co-ordinated Links) dual robot arm. Her work on hybrid impedance control, combining adaptive backstepping with PID sliding surfaces, addresses critical challenges in human-robot interaction. With over 400 total citations across her most-cited papers, Mahanta’s contributions have significantly shaped modern robotic control, offering practical solutions for industrial automation and collaborative robotics. Her adaptive and robust methodologies continue to inspire new generations of control engineers.
Research Focus
Key Achievements
Top Papers
- 1Adaptive second order terminal sliding mode controller for robotic manipulators248 citations · 2013
- 2Sliding mode control of position commanded robot manipulators78 citations · 2018
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- 10Adaptive Fuzzy Self-learning Controller for Robotic Manipulators2 citations · 2006