Your browser is out-of-date!

For a richer surfing experience on our website, please update your browser.Update my browser now!

×

Harshal Oza

Assistant Professor
Ph.D. (Electronics), University of Kent at Canterbury, UK.
Areas of interest
Control systems theory and its applications in Industrial automation, Robotics and Aerospace Engineering

Harshal Oza graduated in Mechatronics from Saradar Patel University. His PhD studies were focussed on non-linear control of uncertain systems with applications to robotics. He has control engineering experience in industry sectors such as industrial automation and oil and petrochemical refining. He was with University of Kent for a post-doctoral research position prior to joining Ahmedabad University.   

Research Projects:

Title: Quaternion based leader-follower robust tracking control of an industrial robot using an anthropomorphic arm

PI: Dr. Harshal B. Oza

Project Duration: 3 years (2017-2020)

Funding Amount: 32 Lacs

Funding Organization: Science and Engineering Research Board (SERB), Department of Science and Technology (DST), Government of India.

Summary:  This research project aims to develop a method to control an industrial robot remotely. The principal motivation of this project is in developing a safe technology for operators of industrial robots with a potential to develop solutions for hazardous area applications. The currently available technology in the area makes the task of the operator cumbersome when interacting with a robot via two or three dimensional devices such as a joy-stick or teaching pendants. This project will make use of a dexterous wearable accessory as a leader that will generate desired joint trajectories of the follower 6-degree of freedom robot. A task space control of the end effector of the follower robot will be achieved by utilizing quaternion based robot kinematics and dynamics. 

Journals Papers

1. H. Oza, R. Pandey, D. Roper, Y. Al-Nuaimi, S. Spurgeon and M. Goodfellow, “Modelling and finite time stability analysis of psoriasis pathogenesis", International Journal of Control, DOI:10.1080/00207179.2016.1217566, 2016.

2. H. Oza, Y. Orlov, and S. Spurgeon, “Continuous uniform finite time stabilization of planar controllable systems", SIAM Journal on Control and Optimization, vol 53, no. 3, pp. 1154–1181, 2015.

3. A. Maity, H. Oza and R. Padhi, “Generalized Model Predictive Static Programming and Angle-Constrained Guidance of Air-to-Ground Missiles", Journal of Guidance Control and Dynamics, vol. 37, no. 6, pp. 1897-1913, 2014. 

4. H. Oza, Y. Orlov and S. Spurgeon, “Lyapunov-based settling time estimate and tuning for twisting controller", IMA Journal of Mathematical Control and Information, Vol. 29, No. 4, pp. 471-490, 2012.

5. H. Oza, Y. Orlov and S. Spurgeon, “Finite time stabilization of a perturbed double integrator with unilateral constraints", Mathematics and Computers in Simulation, 2012, vol. 95, January 2014 (first published online 2012), pp 200-212.

6. H. Oza and R. Padhi, “Impact-angle-constrained suboptimal model predictive static programming guidance of air-to-ground missiles", Journal of Guidance, Control, and Dynamics, vol. 35, no. 1, pp. 153 - 164, 2012.

Conference Papers

1. H. Oza and R. Padhi, "Finite-Time Partial IGC Approach for Formation Flying with Collision Avoidance", in the proceedings of the 13th International Conference INDICON 2016, Bangalore, India, December 2016.

2. H. Oza, Y. Orlov and S. Spurgeon, "A Unified Lyapunov Function for Finite time Stabilization of Continuous and Variable Structure Systems with Resets", in the proceedings of the 55th IEEE Conference on Decision and Control (IEEE-CDC), Las Vegas, USA, December 2016.

3. O. Huber and H. Oza, "Implicit numerical integration for the simulation and control of a non-smooth system with resets", in the proceedings of the 55th IEEE Conference on Decision and Control (IEEE-CDC), Las Vegas, USA, December 2016.

4. A. Polyakov, Y. Orlov, H. Oza and S. Spurgeon, "Robust Finite-Time Stabilization and Observation of a Planar System Revisited", in the proceedings of the IEEE Conference on Decision and Control (IEEE-CDC), Osaka, Japan, December 2015.

5. H. Oza, Y. Orlov, S. Spurgeon, “On Robustness of a Class of Homogeneous Continuous Finite Time Controllers", in the proceedings of the IEEE Conference on Decision and Control (IEEE-CDC), Los Angeles, USA, December 2014.  

6. H. Oza, S. Spurgeon, N. Valeyev, “Non-Lipschitz Growth Functions as a Natural Way of Modelling Finite Time Behaviour in Auto-immune Dynamics", in the proceedings of the 19th IFAC World Congress, 24 - 29 August, Cape Town, South Africa, 2014. 

7. A.J.N. Anelone, H. Oza, S. Spurgeon, “The Immune System: A Variable Structure Control Perspective", in the proceedings of the 19th IFAC World Congress, 24 - 29 August, Cape Town, South Africa, 2014. 

8. H. Oza, Y. Orlov, S. Spurgeon, “Robust Finite Time Stability and Stabilization: A Survey of Continuous and Discontinuous Paradigms", in the proceedings of the 13th International Workshop on Variable Structure Systems (VSS), Nantes, France, June - July 2014. 

9. H. Oza, Y. Orlov, S. Spurgeon, Y. Aoustin and C. Chevallereau, “Continuous second order sliding mode based robust finite time tracking of a fully actuated biped robot", in the proceedings of the European Control Conference (ECC), pp. 2600 - 2605, Strasbourg, France, June 24 - 27, 2014. 

10. H. Oza, Y. Orlov, S. Spurgeon, Y. Aoustin and C. Chevallereau, “Finite time tracking of a fully actuated biped robot with pre-specified settling time: a second order sliding mode synthesis", in the proceedings of the IEEE Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.

11. H. Oza and S. Spurgeon, “Novel Environment for the Practical Implementation of Higher Order Sliding Mode Controllers", in the proceedings of the 52nd IEEE Conference on Decision and Control (CDC), pp. 4254 - 4259, Florence, Italy, December 2013. 

12. A. Maity, H. Oza, R. Padhi “Generalized Model Predictive Static Programming and Its Application to 3D Impact Angle Constrained Guidance of Air-To-Surface Missiles", in the proceedings of the American Control Conference (ACC), pp. 4999 - 5004, June 17 - 19, 2013, Washington, DC. 

13. H. Oza, V. Acary, Y. Orlov, S. Spurgeon, B. Brogliato “Finite time tracking of unilaterally constrained planar systems with pre-specified settling time: Second order sliding mode synthesis and chattering-free digital implementation", in the proceedings of the 51st IEEE Conference on Decision and Control (CDC), pp. 5471 - 5476, December 2012. 

14. H. Oza, Y. Orlov, and S. Spurgeon, “Tuning rules for second order sliding mode based output feedback synthesis", 12th International workshop on Variable Structure Systems (VSS), pp. 130 - 135, January 2012. 

15. H. Oza, Y. Orlov, and S. Spurgeon, “Finite time stabilization of perturbed double integrator with jumps in velocity", in the proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), December 2011, vol. 1. IEEE, pp. 4610 - 4615.

16. H. Oza, Y. Orlov, and S. Spurgeon, “Settling time estimate for a second order sliding mode controller: A homogeneity approach", in the proceedings of the 18th International Federation of Automatic Control (IFAC) World Congress, August- September 2011. 

17. H. Oza and R. Padhi, “A nonlinear sub-optimal guidance law with 3D impact angle constraints for ground targets", AIAA-2010-8185, AIAA Guidance, Navigation and Control Conference, Toronto, Ontario, Aug. 2-5, 2010.

18. H. Oza, V. Thakar, and B. Bandyopadhyay, “Discrete time sliding mode control with application to magnetic levitation system", in the proceedings of the 11th International Workshop on Variable Structure Systems (VSS), pp. 331 - 336, 2010.

Monsoon 2015, 2016

  • Engineering Graphics
  • Strength of Materials

Winter 2016

  • Mechatronics

Winter 2017

  • Control System Design
  • Robotics

Reviewer for Journals

From year 2013 to 2016: 

  • IMA Journal of Mathematical Control and Information
  • IEEE Transactions on Cybernetics
  • Journal of the Franklin Institute
  • Asian Journal of Control
  • ASME Journal of Dynamics, Measurements and Control
  • Mechatronics
  • International Journal of Robust and Nonlinear Control

Reviewer for Conferences

From year 2013 to 2016: 

  • IEEE Conference on Decision and Control (CDC) 
  • IEEE International Workshop on Variable Structure Systems (VSS)

Lecture:

1. "Sliding Mode Control", in the Tutorial workshop on Nonlinear, Adaptive, Optimal and Embedded Control, 18-23 July 2016, IISc, Bangalore, India.

Research Talk:

1.  "Recent advances in control of biped robots", 13 May 2016, Department of Mechanical Engineering, School of Technology, Pandit Deendayal Petroleum University, Gujarat, India. 

     

Contact

228, School of Engineering and Applied Science,
Ahmedabad University,
Ahmedabad Education Society FP. 4,
Near Commerce Six Roads,
Navrangpura, Ahmedabad - 380 009, India

Back