21 citations · 52 across the 33 of their papers we have counts for
4 papers · 1 filter
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…