11 papers
Explicit Second-Order Bounds on the Domain of Validity for Lyapunov-Schmidt Reduction
Pranav Gupta, Ravi Banavar, Anastasia Bizyaeva
Lyapunov-Schmidt reduction is a widely used dimensionality reduction technique for bifurcation analysis in high-dimensional systems. While classical formulations guarantee the loca…
Tracking Control for a Dynamic Model of an Underwater Submersible
Matthew Hampsey, Pieter van Goor, Ravi Banavar +1
Underwater vehicles are naturally modelled as rigid bodies on SE(3) subjected to added mass effects. The passivity of the Hamiltonian structure of the system can be exploited to de…
Synchronous Observer Design for Landmark-Inertial SLAM with Magnetometer and Intermittent GNSS Measurements
Arkadeep Saha, Pieter van Goor, Ravi Banavar
In Landmark-Inertial Simultaneous Localisation and Mapping (LI-SLAM), the positions of landmarks in the environment and the robot's pose relative to these landmarks are estimated u…
Geometric Integrators for Nonholonomic Systems on Lie Groups
Viyom Vivek, David Martin de Diego, Ravi N. Banavar
We present a general framework for constructing structure-preserving numerical integrators for nonholonomically constrained mechanical systems evolving on Lie groups using retracti…
Equivariant Tracking Control for Fully Actuated Mechanical Systems on Matrix Lie Groups
Matthew Hampsey, Pieter van Goor, Ravi Banavar +1
Mechanical control systems such as aerial, marine, space, and terrestrial robots often naturally admit a state-space that has the structure of a Lie group. The kinetic energy of su…
Synchronous Observer Design for Landmark-Inertial SLAM with Almost-Global Convergence
Arkadeep Saha, Pieter van Goor, Antonio Franchi +1
Landmark Inertial Simultaneous Localisation and Mapping (LI-SLAM) is the problem of estimating the locations of landmarks in the environment and the robot's pose relative to those…
Bounds of Validity for Bifurcations of Equilibria in a Class of Networked Dynamical Systems
Pranav Gupta, Ravi Banavar, Anastasia Bizyaeva
Local bifurcation analysis plays a central role in understanding qualitative transitions in networked nonlinear dynamical systems, including dynamic neural network and opinion dyna…
Constructing Dynamic Feedback Linearizable Discretizations
Ashutosh Jindal, Florentina Nicolau, David Martin Diego +1
Dynamic feedback linearization-based methods allow us to design control algorithms for a fairly large class of nonlinear systems in continuous time. However, this feature does not…
Estimates on the domain of validity for Lyapunov-Schmidt reduction
Pranav Gupta, Anastasia Bizyaeva, Ravi Banavar
Lyapunov-Schmidt reduction is a dimensionality reduction technique in nonlinear systems analysis that is commonly utilised in the study of bifurcation problems in high-dimensional…
Feedback Linearizable Discretizations of Second Order Mechanical Systems using Retraction Maps
Shreyas N. B., David Martin Diego, Ravi Banavar
Mechanical systems are most often described by a set of continuous-time, nonlinear, second-order differential equations (SODEs) of a particular structure governed by the covariant…
Exploiting Equivariance in the Design of Tracking Controllers for Euler-Poincare Systems on Matrix Lie Groups
Matthew Hampsey, Pieter van Goor, Ravi Banavar +1
The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actua…