Vijay Muralidharan

About

Vijay Muralidharan is a leading researcher in nonlinear control theory, with a focus on the dynamics and stabilization of complex robotic systems. His work bridges geometric control, underactuated mechanics, and multi-agent coordination. A major contribution is his pioneering extension of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) to systems with nonholonomic Pfaffian constraints, as demonstrated on the challenging mobile inverted pendulum (MIP) robot—a paper with 15 citations that laid foundational theory. He has also designed Lyapunov-based formation control laws for networks of nonholonomic MIP robots, achieving multi-objective tasks like trajectory tracking (62 citations), and developed geometric controllability frameworks for spherical robots with inertia disc actuators (49 citations). His work on smooth time-invariant controllers for simultaneous position stabilization and pendulum balancing of MIPs (25 citations) and rendezvous/attitude synchronization for space manipulators (17 citations) further showcases his breadth. With over 150 total citations, Muralidharan’s research provides essential tools for controlling unstable, underactuated, and nonholonomic systems, impacting fields from mobile robotics to space exploration.

Research Focus

Key Achievements

Top Papers

1. 1
   Formation Control and Trajectory Tracking of Nonholonomic Mobile Robots

   62 citations · 2017
2. 2
   Geometric Controllability and Stabilization of Spherical Robot Dynamics

   49 citations · 2015
3. 3
   Position Stabilization and Waypoint Tracking Control of Mobile Inverted Pendulum Robot

   25 citations · 2014
4. 4
   Rendezvous and Attitude Synchronization of a Space Manipulator

   17 citations · 2019
5. 5
   Extending interconnection and damping assignment passivity-based control (IDA-PBC) to underactuated mechanical systems with nonholonomic Pfaffian constraints: The mobile inverted pendulum robot

   15 citations · 2009

Key Collaborators

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