2 citations · 3 across the 4 of their papers we have counts for
5 papers
Adaptive Model Predictive Control of Wheeled Mobile Robots
Nikhil Potu Surya Prakash, Tamara Perreault, Trevor Voth +1
In this paper, a control algorithm for guiding a two wheeled mobile robot with unknown inertia to a desired point and orientation using an Adaptive Model Predictive Control (AMPC)…
A Computational Approach for Variational Integration of Attitude Dynamics on SO(3)
Nikhil Potu Surya Prakash
In this article, a brief description of Discrete Mechanics and Variational Integrators which preserve the symplectic structure of the flow will be provided and a Newton-Raphson alg…
Data-Driven Strictly Positive Real System Identification with prior System Knowledge
Nikhil Potu Surya Prakash, Zhi Chen, Roberto Horowitz
Strictly Positive Real (SPR) transfer functions arise in many areas of engineering like passivity theory in circuit analysis and adaptive control to name a few. In many physical sy…
System Identification in Multi-Actuator Hard Disk Drives with Colored Noises using Observer/Kalman Filter Identification (OKID) Framework
Nikhil Potu Surya Prakash, Zhi Chen, Roberto Horowitz
Multi Actuator Technology in Hard Disk drives (HDDs) equips drives with two dual stage actuators (DSA) each comprising of a voice coil motor (VCM) actuator and a piezoelectric micr…
Nonlinear control of a swinging pendulum on a wheeled mobile robot with nonholonomic constraints
Nikhil Potu Surya Prakash
In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart…