17 citations · 28 across the 9 of their papers we have counts for
4 papers · 1 filter
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 bundle framework for observer design on smooth manifolds with symmetry
Anant A. Joshi, D. H. S. Maithripala, Ravi N. Banavar
The article presents a bundle framework for nonlinear observer design on a manifold with a Lie group action. The group action on the manifold decomposes the manifold to a quotient…
Feedback Regularization and Geometric PID Control for Robust Stabilization of a Planar Three-link Hybrid Bipedal Walking Model
W. M. L. T. Weerakoon, T. W. U. Madhushani, D. H. S. Maithripala +1
This paper applies a recently developed geometric PID controller to stabilize a three-link planar bipedal hybrid dynamic walking model. The three links represent the robot torso an…
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…