Nihar G. Deshpande
Papers
1
Total Citations
2
H-Index
1
About
Dr. Nihar G. Deshpande is a control systems researcher whose work focuses on the trajectory tracking and motion control of nonholonomic mobile robots—vehicles constrained by their own motion, such as differential-drive platforms. His most cited paper, "Trajectory Tracking of a Nonholonomic Mobile Robot using Optimal Cascade Sliding Mode Controller" (2020), introduces a novel cascade control architecture that combines a Sliding Mode Controller (SMC) in the outer loop with a Proportional-Integral-Derivative (PID) controller in the inner loop. To optimize performance, Dr. Deshpande further applies a Linear Quadratic Regulator (LQR) to the outer loop, creating a hybrid robust-optimal framework that mitigates chattering while ensuring precise path following under uncertainties. This work, with 2 citations, demonstrates his contribution to bridging robust nonlinear control and optimal control theory for practical robotic systems. His research is particularly valuable for autonomous navigation in constrained environments, where stability and accuracy are critical. Dr. Deshpande’s approach exemplifies how combining classical and modern control techniques can yield efficient, real-time solutions for mobile robotics.
Research Focus
Key Achievements
Top Papers
- 1