1 citations · 1 across the 6 of their papers we have counts for
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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…
Optimal Trajectory Tracking of Nonholonomic Mechanical Systems: a geometric approach
Aradhana Nayak, Rodrigo Sato Martín de Almagro, Leonardo Colombo +1
We study the tracking of a trajectory for a nonholonomic system by recasting the problem as an optimal control problem. The cost function is chosen to minimize the error in positio…
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…
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…
Almost-globally stable tracking for on compact Riemannian manifolds
Aradhana Nayak, Ravi Banavar
In this article, we propose a control law for almost-global asymptotic tracking (AGAT) of a smooth reference trajectory for a fully actuated simple mechanical system (SMS) evolving…