SOHAM SARKAR

SOHAM SARKAR

he / him

Ph.D. candidate with a strong background in robotic control algorithms, deep reinforcement learning, convex optimization, advanced system integration, with hands-on experience in deploying controllers in robotic equipments.

Posts by Collection

portfolio

NeuroStride

An RL based Simscape Framework for Ankle Orthosis Assistance

VertiCore

A Pontryagin Differential Programming (PDP) Framework for Stabilization

PathSmith

A multi-robot ROS based interface to emulate warehouse operations

publications

Paper Title Number 4

Published in GitHub Journal of Bugs, 2024

This paper is about fixing template issue #693.

Recommended citation: Your Name, You. (2024). "Paper Title Number 3." GitHub Journal of Bugs. 1(3).
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talks

Design, Fabrication and Control Architecture of Double Wheeled Self-Balancing Robots

Published:

The Self-balancing bot is a multi-variable, naturally unstable and an under-actuated system, driven by dual control torques applied independently to each wheel components. The chassis, indirectly actuated, is prone to strike states of unstable equilibrium, which resorts to failure in maintaining its vertical position. A quick response towards the preceding tilt stabilization requires a certain bandwidth thus, having a possibility of being restricted by the right hand plane pole which imposes a minimum bandwidth limitation on the system. On a separate note, the right hand plane zero associated with the model imposes a maximum bandwidth limitation on the Segway wheel position. As such, a classical conventional loop would result in poor sensitivities. This invokes the need for a control architecture apart from the conventional loop such as the cascade control loop. To further realize and investigate this design in hardware and potentially enhance the controller performance, measures via control tuning, improved state estimation, anti-windup conditions are introduced. We demonstrate the advantages and disadvantages of a conventional loop to project the need for cascade control approaches by using exemplary numerical studies and hardware demonstrations using the help of employed state-of-the-art controllers.

teaching

EEE 481/591: Computer Controlled Systems

Undergraduate/Graduate Level Course, Arizona State University, ECEE, Ira. A. Fulton School of Engineering, 2025

  • Discuss the principles of operation of common sensors and actuators, A/D-D/A converters.
  • Apply basic definitions in measurements.
  • Apply standard design techniques for common control algorithms.
  • Analyze issues related to controller discretization and signal/parameter quantization.
  • Use computer software to implement embedded controllers.