Hariharan Krishnan
National University of Singapore, University of Michigan–Ann Arbor, Michigan United
Papers
19
Total Citations
409
H-Index
9
About
Hariharan Krishnan is a control systems and robotics researcher whose work spans constrained robot systems, mobile robot navigation, and flexible-link robot control. His most influential contribution, "Tracking in nonlinear differential-algebraic control systems with applications to constrained robot systems" (1994, 106 citations), established foundational methods for designing feedback control laws in systems governed by nonlinear differential-algebraic equations — a mathematically challenging class of problems with direct relevance to robots operating under physical constraints. This work, rooted in his 1992 doctoral thesis, laid the groundwork for several subsequent contributions, including novel approaches to simultaneous position and contact force regulation in constrained manipulators. Krishnan also made notable strides in mobile robotics, developing a virtual obstacle concept for potential-field-based navigation that helps robots escape local minima in unknown environments (2002, 99 citations). His research on flexible-link robots addressed the notoriously difficult nonminimum-phase tracking problem through output redefinition and command shaping techniques, enabling more precise tip-trajectory control. Further broadening his scope, he explored neural network controllers for adaptive compensation of robot dynamic uncertainties. Across more than a decade of research, Krishnan's contributions have collectively shaped modern approaches to robot motion planning, constrained control, and flexible manipulator design.
Research Focus
Key Achievements
Top Papers
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- 6Neural network controller for constrained robot manipulators21 citations · 2002
- 7A simple rest-to-rest control command for a flexible link robot18 citations · 2002
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