21 citations · 52 across the 33 of their papers we have counts for
46 papers
Lie Group Variational Integrator for the Geometrically Exact Rod with Circular Cross-Section Incorporating Cross-Sectional Deformation
Srishti Siddharth, Vivek Natarajan, Ravi N. Banavar
In this paper, we derive the continuous space-time equations of motion of a three-dimensional geometrically exact rod, or the Cosserat rod, incorporating planar cross-sectional def…
A discrete-time Pontryagin maximum principle under rate constraints
Siddhartha Ganguly, Souvik Das, Debasish Chatterjee +1
Limited bandwidth and limited saturation in actuators are practical concerns in control systems. Mathematically, these limitations manifest as constraints being imposed on the cont…
Constructing Feedback Linearizable Discretizations for Continuous-Time Systems using Retraction Maps
Ashutosh Jindal, Ravi Banavar, David Martin Diego
Control laws for continuous-time dynamical systems are most often implemented via digital controllers using a sample-and-hold technique. Numerical discretization of the continuous…
Equivariant Filters are Equivariant
Hiya Gada, Pieter van Goor, Ravi Banavar +1
Observers for systems with Lie group symmetries are an active area of research that is seeing significant impact in a number of practical domains, including aerospace, robotics, an…
A Unified Framework for Consensus and Synchronization on Lie Groups admitting a Bi-Invariant Metric
Rama Seshan Chandrasekharan, Ravi N Banavar, Arun D Mahindrakar
For a finite number of agents evolving on a Euclidean space and linked to each other by a connected graph, the Laplacian flow that is based on the inter-agent errors, ensures conse…
Implicit Function Theorem: Estimates on the size of the domain
Ashutosh Jindal, Debasish Chatterjee, Ravi Banavar
In this article, we present explicit estimates of the size of the domain on which the Implicit Function Theorem and the Inverse Function Theorem are valid. For maps that are twice…
Geometric PID Controller for Stabilization of Nonholonomic Mechanical Systems on Lie Groups
Rama Seshan, Ravi N Banavar, D. H. S. Maithripala +1
The PID controller is an elegant and versatile controller for set point tracking in double integrator systems of which mechanical systems evolving on Euclidean space constitute a l…
Modelling, Controllability and Gait Design for a Spherical Flexible Swimmer
Sudin Kadam, Ravi N. Banavar, Vivek Natarajan
This paper discusses modelling, controllability and gait design for a spherical flexible swimmer. We first present a kinematic model of a low Reynolds number spherical flexible swi…
Robust Discrete-Time Pontryagin Maximum Principle on Matrix Lie Groups
Anant A. Joshi, Debasish Chatterjee, Ravi N. Banavar
This article considers a discrete-time robust optimal control problem on matrix Lie groups. The underlying system is assumed to be perturbed by exogenous unmeasured bounded disturb…
Stabilizing a spherical pendulum on a quadrotor
Aradhana Nayak, Ravi Banavar, D. H. S Maithripala
In this article we design a backstepping control law based on geometric principles to swing up a spherical pendulum mounted on a moving quadrotor. The available degrees of freedom…
A note on the kinematic model of the planar Purcell's swimmer
Sudin Kadam, Ravi N. Banavar
The kinematic model for the planar Purcell's swimmer - a low Reynolds number microswimmer is derived and used extensively in the literature. We revisit the derivation and give the…
Variational collision and obstacle avoidance of multi-agent systems on Riemannian manifolds
Rama Seshan Chandrasekaran, Leonardo J. Colombo, Margarida Camarinha +2
In this paper we study a path planning problem from a variational approach to collision and obstacle avoidance for multi-agent systems evolving on a Riemannian manifold. The proble…
Design of a Discrete Time Observer for the Continuous Time Rotation Kinematics on
Soham Shanbhag, Ravi Banavar
This report proposes a discrete time observer for the continuous time rigid body kinematics on the rotation group . The work draws on two research schools…
Attitude Control of a Novel Tailsitter: Swiveling Biplane-Quadrotor
Nidhish Raj, Ravi Banavar, Abhishek +1
This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle de…
A bundle framework for observer design on smooth manifolds with symmetry
Anant A. Joshi, D. H. S. Maithripala, Ravi N. Banavar
The article presents a bundle framework for nonlinear observer design on a manifold with a Lie group action. The group action on the manifold decomposes the manifold to a quotient…
Scenario approach for minmax optimization with emphasis on the nonconvex case: positive results and caveats
Mishal Assif P K, Debasish Chatterjee, Ravi Banavar
We treat the so-called scenario approach, a popular probabilistic approximation method for robust minmax optimization problems via independent and indentically distributed (i.i.d)…
Lyapunov-like functions for attitude control via feedback integrators
Tejaswi K. C., Srikant Sukumar, Ravi Banavar
The notion of feedback integrators permits Euclidean integration schemes for dynamical systems evolving on manifolds. Here, a constructive Lyapunov function for the attitude dynami…
Exact isoholonomic motion of the planar Purcell's swimmer
Sudin Kadam, Karmvir Singh Phogat, Ravi N. Banavar +1
In this article we present the discrete-time isoholonomic problem of the planar Purcell's swimmer and solve it using the Discrete-time Pontryagin maximum principle. The 3-link Purc…
Discrete time optimal control with frequency constraints for non-smooth systems
Shruti Kotpalliwar, Pradyumna Paruchuri, Debasish Chatterjee +1
We present a Pontryagin maximum principle for discrete time optimal control problems with (a) pointwise constraints on the control actions and the states, (b) frequency constraints…
Structure-Preserving Constrained Optimal Trajectory Planning of a Wheeled Inverted Pendulum
Klaus Albert, Karmvir Singh Phogat, Felix Anhalt +3
The Wheeled Inverted Pendulum (WIP) is an underactuated, nonholonomic mechatronic system, and has been popularized commercially as the Segway. Designing a control law for motion pl…
A Lagrangian Model to Predict Microscallop Motion in non Newtonian Fluids
Yashaswini Murthy, Ravi Banavar
The need to develop models to predict the motion of microrobots, or robots of a much smaller scale, moving in fluids in a low Reynolds number regime, and in particular, in non Newt…
Discrete Optimal Control of Interconnected Mechanical Systems
Siddharth H. Nair, Ravi N. Banavar
This article develops variational integrators for a class of underactuated mechanical systems using the theory of discrete mechanics. Further, a discrete optimal control problem is…
Variational dynamic interpolation for kinematic systems on trivial principal bundles
Sudin Kadam, Ravi N. Banavar
This article presents the dynamic interpolation problem for locomotion systems evolving on a trivial principal bundle . Given an ordered set of points in , we wish to generat…
A simple proof of the discrete time geometric Pontryagin maximum principle on smooth manifolds
Mishal Assif P K, Debasish Chatterjee, Ravi Banavar
We establish a geometric Pontryagin maximum principle for discrete time optimal control problems on finite dimensional smooth manifolds under the following three types of constrain…