21 citations · 52 across the 33 of their papers we have counts for
9 papers · 1 filter
Structure-preserving discrete-time optimal maneuvers of a wheeled inverted pendulum
Karmvir Singh Phogat, Ravi Banavar, Debasish Chatterjee
The Wheeled Inverted Pendulum (WIP) is a nonholonomic, underactuated mechanical system, and has been popularized commercially as the {\it Segway}. Designing optimal control laws fo…
Almost-global tracking of the unactuated joint in a pendubot
Aradhana Nayak, Ravi N. Banavar
Tracking the unactuated configuration variable in an underactuated system, in a global sense, has not received much attention. Here we present a scheme to do so for a pendubot - a…
Robust Attitude Tracking for Aerobatic Helicopters: A Geometric Approach
Nidhish Raj, Ravi N Banavar, Abhishek +1
This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking con…
Further insights into the damping-induced self-recovery phenomenon
Tejas Kotwal, Roshail Gerard, Ravi Banavar
In a series of papers, D. E. Chang, et al., proved and experimentally demonstrated a phenomenon they termed "damping-induced self-recovery". However, these papers left a few questi…
Control Synthesis for an Underactuated Cable Suspended System Using Dynamic Decoupling
Siddharth H. Nair, Ravi N. Banavar, D. H. S. Maithripala
This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attach…
The Principal Fiber Bundle Structure of the Gimbal-Spacecraft System
Ravi N Banavar, Arjun Narayanan
The gimbal-spacecraft system, that consists of a variable speed control moment gyro (VSCMG) mounted inside a spacecraft, has been employed as an actuator for the attitude control o…
Attitude Tracking Control for Aerobatic Helicopters: A Geometric Approach
Nidhish Raj, Ravi N. Banavar, Abhishek +1
We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the roto…
Almost-global tracking for a rigid body with internal rotors
Aradhana Nayak, Ravi N. Banavar
Almost-global orientation trajectory tracking for a rigid body with external actuation has been well studied in the literature, and in the geometric setting as well. The tracking c…
Trajectory Tracking Using Motion Primitives for the Purcell's Swimmer
Sudin Kadam, Kedar Joshi, Naman Gupta +2
Locomotion at low Reynolds numbers is a topic of growing interest, spurred by its various engineering and medical applications. This paper presents a novel prototype and a locomoti…