Recent publications
2024
Pranav Gupta, Anastasia Bizyaeva and Ravi Banavar
Estimates on the domain of validity for Lyapunov-Schmidt reduction
Submitted to the 63rd IEEE Conference on Decision and Control, to be held in Milano, Italy, Dec 2024.
Ashutosh Jindal, Florentina Nicolau, David Martin Diego and Ravi Banavar
Constructing Dynamic Feedback Linearizable Discretizations.
Submitted to the 63rd IEEE Conference on Decision and Control, to be held in Milano, Italy, Dec 2024.
Shreyas N B, David Martin Diego and Ravi Banavar
Feedback Linearizable Discretizations of Second Order Mechanical Systems using Retraction Maps
Submitted to the 63rd IEEE Conference on Decision and Control, to be held in Milano, Italy, Dec 2024.
Matthew Hampsey, Pieter van Goor, Ravi Banavar and Robert Mahony
Exploiting Equivariance in Design of Tracking Control for Euler-Poincare Systems on Matrix Lie-Groups
Accepted for the 8th IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control, Besançon,
France.
Rama Seshan C, Ravi N Banavar and Arun D Mahindrakar
A Principal Bundle Framework for Generalised Notions of Formation andRigidity
Accepted for the 8th IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control, Besançon,
France.
2023
Bhavini Jeloka, Florentina Nicolau, Adnane Saoud and Ravi N. Banavar
Data-Driven Control of Adaptive Cruise Control Systems Using Differential Flatness and
Gaussian Processes
To appear in the Proceedings of American Control Conference, June 2024.
Ashutosh Jindal, Ravi Banavar and David Martın Diego
Constructing Feedback Linearizable Discretizations for Continuous-Time Systems using
Retraction Maps.
IEEE Control Systems Letters, vol. 7, pp. 2467-2472, 2023, doi: 10.1109/LCSYS.2023.3286992.
Ashmita Roy and Ravi N. Banavar
Robust Control Design for the Suspension System of LIGO
Classical and Quantum Gravity, Volume 40, Number 19
DOI 10.1088/1361-6382/acf088
Harsh Oza, Irinel-Constantin Morarescu, Vineeth S. Varma, and Ravi Banavar
Optimal Switching of a Networked ControlSystem with Information Multiplexing in Control
and Observation
Submitted to the IFAC Journal of Systems and Control.
Ashutosh Jindal, Debasish Chatterjee and Ravi Banavar
Estimates on the size of the domain of the Implicit Function Theorem: A Mapping
Degree based Approach,
Math. Control Signals Syst. 36, 139–175 (2024). https://doi.org/10.1007/s00498-023-00370-5
Nishant Mittal, Shreya Shrivastava, Viyom Vivek, José Ángel Acosta and Ravi Banavar
Geometric Modelling and Control of Flexible Serial Robot Links
Proceedings of the 21st European Control Conference, Bucharest, Rumania, July 2023.
Ashmita Roy, Nishant Mittal and Ravi N. Banavar
Robust Control Design for a linearized model of a LIGO subsystem
Proceedings of the 21st European Control Conference, Bucharest, Rumania, July 2023.
Harsh Oza, Rama Seshan Chandrasekaran, Ravi Banavar
Consensus of Nonholonomic Systems Using Geometric PD Controller
Proceedings of the 21st European Control Conference, Bucharest, Rumania, July 2023.
Ashutosh Jindal*, Ravi Banavar, Debasish Chatterjee, Ronit Chitre
Quantitative Estimates on the Domain of Feedback Linearization
12th IFAC Symposium on Nonlinear Control Systems, , Canberra, Australia, January 4-6, 2023.
Ashutosh Jindal*, Ravi Banavar, Debasish Chatterjee
Measure of controllability on $mathsf{SO}(3)$.
12th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2022), Canberra, Australia, January 4-6, 2023.
Hiya Gada*, Pieter van Goor, Ravi Banavar, Robert Mahony
Equivariant Filters are Equivariant
12th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2022), Canberra, Australia, January 4-6, 2023.
2022
S. Ganguly, N. Randad, D. Chatterjee and R. Banavar
Constrained trajectory synthesis via quasi-interpolation
2022 IEEE 61st Conference on Decision and Control (CDC), Cancun, Mexico, 2022,
pp. 4533-4538, doi: 10.1109/CDC51059.2022.9992892.
Rama Seshan, Ravi N Banavar and Arun D Mahindrakar
A Unified Framework for Consensus and Synchronization on Lie Groups admitting a Bi-Invariant Metric
https://arxiv.org/abs/2209.00345
(submitted to the IEEE Transactions on Automatic Control.)
Rama Seshan, Ravi N Banavar, D H S Maithripala and Arun D Mahindrakar
Geometric PID Controller for Stabilization of Nonholonomic Mechanical Systems on Lie Groups
https://arxiv.org/abs/2111.07061
(Conditionally accepted, IFAC Journal Automatica.)
Rama Seshan, Ravi N Banavar and Arun D Mahindrakar
Geometric Second-Order Laplacian Flow for Consensus on Lie Groups
Runner-up, Best Student Paper Category, European Control Conference, July 15,2022.
Ashutosh Jindal, Debasish Chatterjee, Ravi Banavar
Implicit Function Theorem: Estimates on the size of the domain
https://arxiv.org/abs/2205.12661
Sudin Kadam, Karmvir Singh Phogat, Ravi N. Banavar, Debasish Chatterjee
Exact isoholonomic motion of the planar Purcell's swimmer
IEEE Transactions on Automatic Control, Vol. 67, N0. 1, January 2022
https://arxiv.org/pdf/1902.01038
2021
Siddhartha Ganguly, Souvik Das, Debasish Chatterjee, Ravi Banavar
Rate Constrained Discrete-time Maximum Principle
IFAC PapersOnLine 54-19 (2021) 340–345
Presented at the 7th IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control
Ashutosh Jindal, Ravi Banavar and Debasish Chatterjee
Feedback Linearization of Implicit Discrete Systems
IFAC PapersOnLine 54-19 (2021) 340–345
Presented at the 7th IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control
Rama Seshan, Ravi N Banavar, D. H. S. Maithripala and Arun D. Mahindrakar
Geometric PID Controller for Stabilization of Nonholonomic Mechanical Systems on Lie Groups
https://arxiv.org/abs/2111.07061 (under revision - IFAC Journal Automatica)
Anant A. Joshi, D. H. S. Maithripala, Ravi N. Banavar
A bundle framework for observer design on smooth manifolds with symmetry
accepted by the Journal of Geometric Mechanics
Journal of Geometric Mechanics, 2021, 13 (2) : 247-271. DOI: 10.3934/jgm.2021015
https://arxiv.org/abs/1907.09234
Anant A. Joshi, Debasish Chatterjee, Ravi N. Banavar
Robust Discrete-Time Pontryagin Maximum Principle on Matrix Lie Groups
https://arxiv.org/abs/2007.13459
IEEE Transactions on Automatic Control, DOI: 10.1109/CDC42340.2020.9303794
Aradhana Nayak, Ravi Banavar, D. H. S Maithripala
Stabilizing a spherical pendulum on a quadrotor
https://arxiv.org/abs/2007.06332
Asian Journal of Control, 12 May 2021 https://doi.org/10.1002/asjc.2577
2020
Mishal Assif P. K., Debasish Chatterjee and Ravi N Banavar
Scenario approach for minmax optimization with emphasis on the nonconvex case: positive results and caveats
SIAM Journal on Optimization, 30(2), 1119–1143. (25 pages)
https://epubs.siam.org/doi/10.1137/19M1271026
Nidhish Raj, Ashutosh Simha, Mangal Kothari, Abhishek Abhishek, Ravi N Banavar
Iterative Learning based feedforward control for Transition of a Biplane-Quadrotor Tailsitter UAS
International Conference on Robotics and Automation (ICRA), 2020, Paris, June 2020.
Nidhish Raj, Ravi Banavar, Abhishek and Mangal Kothari
Robust Attitude Tracking for Aerobatic Helicopters: A Geometric Approach
IEEE Transactions on Control Systems Technology
DOI: 10.1109/TCST.2020.2969124
2019
Nidhish Raj, Ravi Banavar, Abhishek and Mangal Kothari
Attitude Control of a Novel Tailsitter: Swiveling Biplane-Quadrotor
AIAA Journal of Guidance, Control and Dynamics, Published Online:13 Dec 2019
https://arc.aiaa.org/doi/abs/10.2514/1.G004697
Shruti Kotpalliwar, Pradyumna Paruchuri, Karmvir Singh Phogat, Debasish Chatterjee, Ravi Banavar
A frequency-constrained geometric Pontryagin maximum principle on matrix Lie groups
Provisionally accepted by the International Journal of Robust and Nonlinear Control.
Shruti Kotpalliwar, Pradyumna Paruchuri, Debasish Chatterjee and Ravi Banavar
Discrete time optimal control with frequency constraints for non-smooth systems
(Provisionally accepted by the IFAC journal, Automatica.)
Mishal Assif, Debasish Chatterjee and Ravi Banavar
A simple proof of the discrete time geometric Pontryagin maximum principle
https://arxiv.org/abs/1807.00698
(Accepted by the IFAC journal, Automatica.)
Tejas Kotwal, Roshail Gerard and Ravi N. Banavar
An energy and dynamical systems perspective to the damping-induced self recovery phenomenon
https://arxiv.org/abs/1709.05596
ASME Journal of Dynamical Systems, Measurement and Control, vol. 141, , April 2019.
Siddharth Nair and Ravi Banavar
Discrete Optimal Control of Interconnected Mechanical Systems
Proceedings of the NOLCOS 2019, Vienna, Austria, Sept. 3 - 5, 2019
Siddharth Nair, Ravi Banavar and D. H. S. Maithripala
Control Synthesis for an Underactuated Cable Suspended System Using Dynamic Decoupling
Proceedings of the American Control Conference, June 2019
Sudin Kadam, Karmvir Singh Phogat, Ravi N. Banavar, Debasish Chatterjee
Exact isoholonomic motion of the planar Purcell's swimmer
Submitted to the IEEE Transactions on Automatic Control
https://arxiv.org/pdf/1902.01038
Sudin Kadam and Ravi N. Banavar,
Variational dynamic interpolation for kinematic systems on trivial principal bundles
Under revision with Systems and Control Letters
https://arxiv.org/abs/1808.00414
2018
Klaus Albert, Karmvir Singh Phogat, Felix Anhalt, Ravi N Banavar, Debasish Chatterjee, Boris Lohmann
Structure-preserving constrained optimal trajectory planning of a wheeled inverted pendulum
Submitted to the IEEE Transactions on Robotics
https://arxiv.org/abs/1811.12819
Link to the video
K. S. Phogat, D. Chatterjee and R. N. Banavar,
A Discrete-time Pontryagin Maximum Principle on Matrix Lie Groups,
Vol. 7, Nov 2018, Pages 376-391, IFAC Journal, Automatica, Elsevier.
Shruti Kotpalliwar, Pradyumna Paruchuri, Karmvir Singh Phogat, Debasish Chatterjee, Ravi Banavar
A frequency-constrained geometric Pontryagin maximum principle on matrix Lie groups
Proceedings of the IEEE, Conference on Decision and Control, Florida, USA, 2018
https://arxiv.org/abs/1803.03052
Mishal Assif, Ravi Banavar, Anthony Bloch, Margarida Camarinha and Leonardo Colombo
Variational collision avoidance problems on Riemannian manifolds
Proceedings of the IEEE, Conference on Decision and Control, Florida, USA, 2018
https://arxiv.org/abs/1804.00122
S. Kadam and R. N. Banavar
Modelling and controllability of a slender, flexible micro-swimmer using Cox theory
Proceedings of the 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
https://arxiv.org/abs/1803.08795
K. S. Phogat, R. N. Banavar and D. Chatterjee
Structure-preserving discrete-time optimal maneuvers of a wheeled inverted pendulum
https://arxiv.org/abs/1710.10932
Proceedings of the IFAC workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control, Valaparaiso, Chile, May 2018.
Aradhana Nayak, Ravi N. Banavar and D. H. S. Maithripala
Almost-global tracking for a rigid body with internal rotors
Volume 42, July 2018, Pages 59-66, European Journal of Control, March 2018.
Aradhana Nayak and Ravi N. Banavar
On Almost-Global Tracking for a Certain Class of Simple Mechanical Systems
DOI: 10.1109/TAC.2018.2833046, IEEE Trans. on Automatic Control.
A. Nayak and R. N. Banavar
Almost-global tracking of the unactuated joint in a pendubot
https://arxiv.org/abs/1710.10379
Proceedings of the IFAC workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control, Valaparaiso, Chile, May 2018.
K. S. Phogat, D. Chatterjee and R. N. Banavar
Discrete-time optimal attitude control of a spacecraft with momentum and control constraints
AIAA Journal of Guidance, Control and Dynamics, Vol. 41, No. 1, pgs. 199-211, 2018.
Sudin Kadam and Ravi N. Banavar
Geometric Controllability of The Purcell's Swimmer and its Symmetrized Cousin
IFAC Journal of Systems and Control, Vol .4, pgs. 7-16, 2018.
2017
Sneha Gajbhiye, Ravi N. Banavar and Sergio Delgado
Symmetries in the wheeled inverted pendulum mechanism
Journal of Nonlinear Dynamics, Springer, Vol. 90, No. 1, pgs. 391-403, 2017.
Ravi N. Banavar and Arjun Narayanan
The Principal Fiber Bundle Structure of the Gimbal-Spacecraft System
https://arxiv.org/abs/1706.07170
Nidhish Raj, Ravi N. Banavar, Abhishek, Mangal Kothari
Attitude Tracking Control for Aerobatic Helicopters: A Geometric Approach
https://arxiv.org/abs/1703.08800
(Proceedings of the IEEE, CDC, Melbourne, Australia, 2017)
Aradhana Nayak, Ravi N. Banavar and D. H. S. Maithripala
Almost-global tracking for a rigid body with internal rotors
https://arxiv.org/abs/1703.07839
Kedar Joshi, Naman Gupta, Pulkit Katdare, Sudin Kadam and Ravi N Banavar
Trajectory Tracking Using Motion Primitives for the Purcell's Swimmer
https://arxiv.org/abs/1703.06731 (Proceedings of the IROS, 2017)
T. S. Kumar and Ravi N. Banavar
Velocity Reversal Systems: A Simple Friction Model for Telescopes
(Asian Journal of Control, http://onlinelibrary.wiley.com/doi/10.1002/asjc.1623/full
2016
Sneha Gajbhiye, Ravi N. Banavar and Sergio Delgado
Symmetries in the wheeled inverted pendulum mechanism
https://arxiv.org/abs/1612.01814 (accepted by Nonlinear Dynamics, Springer.)
K. S. Phogat, D. Chatterjee and R. N. Banavar
Discrete Maximum Principle on Matrix Lie Groups
https://arxiv.org/abs/1612.08022
(under revision for the IFAC Journal, Automatica.)
Sudin Kadam and Ravi N. Banavar
Geometric Controllability of The Purcell's Swimmer and its Symmetrized Cousin
https://arxiv.org/abs/1611.06249
M. Trivedi, R. N. Banavar and P. Kotyczka
Hamiltonian modelling and buckling analysis of a nonlinear flexible beam with actuation at the
bottom,” Mathematical and Computer Modeling of Dynamical Systems,
http://www.tandfonline.com/doi/full/10.1080/13873954.2016.1201517.
K. S. Phogat, D. Chatterjee and R. N. Banavar
Discrete-time optimal attitude control of spacecraft with momentum and control constraints
https://arxiv.org/abs/1509.04521
(accepted by the AIAA Journal of Guidance, Control and Dynamics.)
Sneha Gajbhiye and R. N. Banavar
A geometric approach to tracking of a nonholonomic system: a spherical robot.
Proceedings of IFAC-NOLCOS 2016, Monterrey Bay, USA, August 2016.
S. Kadam and R. N. Banavar
Geometric controllability of the Purcell’s swimmer and its symmetrized cousin
Proceedings of IFAC-NOLCOS 2016, Monterrey Bay, USA, August 2016.
A. Nayak and R. N. Banavar
Almost-globally asymptotic tracking on Riemannian manifolds
Proceedings of the European Control Conference 2016, Aalborg, Denmark, July 2016.
R. Agrawal and R. N. Banavar
Circular orbit spacecraft control at the L4 point using Lyapunov functions
Proceedings of the European Control Conference 2016, Aalborg, Denmark, July 2016.
2015
Sneha Gajbhiye and R. N. Banavar
Geometric Modeling and Local Controllability of a Spherical Robot Actuated by a Pendulum,
DOI:10.1002/RNC, International Journal of Robust and Nonlinear Control (2015).
K. S. Phogat, D. Chatterjee and R. N. Banavar
A Geometric Approach to Single Axis Time-Optimal Attitude Manoeuvres,
Proceedings of the European Control Conference, Linz, Austria, July 2015.
M. Trivedi, R. N. Banavar and P. Kotyczka Port-Hamiltonian Modelling for Buckling Control of a Vertical Flexible Beam with Actuation at the Bottom Proceedings of the 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control held in Lyon ,France, July 2015.
2014
S. R. Sahoo and R. N. Banavar
Attitude synchronization of satellites with internal actuation,
European Journal of Control (20), 2014 152-161. (Elsevier.)
R. Bayadi and R. N. Banavar
Almost global attitude stabilization of a rigid body for both internal and external actuation schemes,
European Journal of Control (20), 2014 45-54. (Elsevier.)
2013
R. Bayadi, R. N. Banavar and D. E. Chang
Characterizing the Reachable Sets of a Spacecraft with Two Rotors,
Systems and Control Letters (62) 2013, 453-460.
Sneha Gajbhiye and R. N. Banavar
Local Equilibrium Controllability of a Spherical Robot Actuated by a Pendulum,
Proceedings of IEEE Conference on Decision and Control, to be held in Firenze, Italy, Dec 2013.
Simha, H., Banavar, R.N.
A 2D-planar dielectrophoretic model with electro-thermally induced fluid motion and the stability of trapping zones, Journal of Nonlinear Science (2013), 3:1001–1021, DOI 10.1007/s00332-013-9176-3
Tripurari S. Kumar and Ravi N. Banavar Design and development of telescope control system and software for the 50/80 cm Schmidt telescope Journal of Optical Engineering, vol. 52(8):081607 (Accepted on May 2, 2013)
2012
Ramaprakash Bayadi and R. N. Banvar,
Weak Positive Poisson Stability and Hamiltonian Vector fields in Mechanical Systems,
Proceedings of the 4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control held in Bertinoro, Italy, August 2012. (bayadi_banavar.pdf)
Sneha Gajbhiye and R. N. Banavar
The Euler-Poincare Equation for a Spherical Robot Actuated by a Pendulum,
Proceedings of the 4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control held in Bertinoro, Italy, August 2012. (gajbhiye_banavar.pdf)
Ramaprakash Bayadi, Ravi N. Banavar and Dong Eui Chang
Characterizing the Reachable Sets of a Spacecraft with Two Rotors,
Proceedings of the American Control Conference, Montreal, Canada, June 2012.
(bay_ban_chang.pdf)
N S Manjarekar and R N Banavar
Nonlinear Control Synthesis for Electrical Power Systems using Controllable Series Capacitors
Springer Briefs in Applied Sciences and Technology, Vol 11, 2012 (Monograph)
N. S. Manjarekar, R. N. Banavar and R. Ortega
An Immersion and Invariance Algorithm for a Differential Algebraic System,
European Journal of Control, Issue No.2, 2012.
Simha, H., Banavar, R.N.
A 2D-planar dielectrophoretic model,
Proceedings of the American Control Conference to be held in Montreal, Canada, June 2012.
(sim_ban_acc12.pdf)
S. Sahoo, R. N. Banavar and A. Sinha Rendezvous in space with minimal sensing and coarse actuation IFAC journal Automatica, published online Dec 2012: http://dx.doi.org/10.1016/j.automatica.2012.11.024
2011
Ramaprakash Bayadi, R. N. Banavar, Bernhard M. Maschke
Small- Time Local Controllability of the Orientation of a Spacecraft Actuated by CMGs,
Proceedings of the 18th IFAC World Congress, Milan Italy, September 2011
M. V. Trivedi, R. N. Banavar, Bernhard M. Maschke
Stabilization of Hybrid Lumped-Distributed Parameter Mechanical System with Multiple Equilibria,
Proceedings of the 18th IFAC World Congress, Milan Italy, September 2011
N. S. Manjarekar, R. N. Banavar and R. Ortega
Stabilization of a Synchronous Generator with a Controllable series capacitor via Immersion and Invariance,
International Journal of Robust and Nonlinear Control, doi: 10.1002/rnc.1732 (2011).
H. Simha, H. Barve and R. N. Banavar
Energy-optimal Control in a Dielectrophoretic System,
Optimal Control Applications and Methods, Wiley, published online July 2011.
H. Simha, R. N. Banavar and D. E. Chang
Reachability and Controllability of a Particle in a Dielectrophoretic System,
Systems and Control Letters, Vol. 60, Issue 7, July 2011.
Simha, H., Banavar, R.N. & Chang, D.E
Aspects of time-optimal control of a particle in a dielectrophoretic system,
Proceedings of the IEEE Conference on Decision and Control and European Control Conference, Orlando, Florida USA, Dec. 2011 .
Soumya R. Sahoo, R. N. Banavar, Arpita Sinha
Rendezvous in Space with Minimal Sensing and Coarse Actuation,
Proceedings of the IEEE Conference on Decision and Control and European Control Conference, Orlando, Florida USA, Dec. 2011.
T. S. Kumar and Ravi. N. Banavar
Identication of Friction in the 50/80cm ARIES Schmidt Telescope Using the LuGre Model,
Proceedings of the 18th IFAC World Congress, Milan Italy, September 2011
2010
V. Joshi , R. N. Banavar and Rohit Hippalgaonkar
Design and Analysis of a Spherical Mobile Robot,
Mechanism and Machine Theory, Elsevier, 45 (2010) 130-136
N. S. Manjarekar, R. N. Banavar and R. Ortega
Application of Interconnection and Damping Assignment to the Stabilization of a Synchronous Generator with a Controllable Series Capacitor,
International Journal of Electrical Power and Energy Systems, Elsevier, 32 (2010) 63-70.
Harsha Simha, R. N. Banavar, Chang Dong Eui
Reachability and Controllability of a Particle in a Dielectrophoretic System,
Proceedings of the 49th IEEE CDC, held in Atlanta, Georgia USA, December 15-17, 2010
Sarras Ioannis, Faruk Kazi, Ortega Romeo, R. N. Banavar
Total Energy-Shaping IDA-PBC Control of the 2D-Spider Crane,
Proceedings of the 49th IEEE CDC, held in Atlanta, Georgia USA, December 15-17, 2010.
2009
R. N. Banavar and Biswadip Dey
Stabilizing a Flexible Beam on A Cart: A Distributed Port Hamiltonian Approach,
Journal of Nonlinear Science, Springer, published online (Dec. 8th, 2009)
F. Kazi, P. Mullhaupt, R. N. Banavar and D. Bonvin
Dynamics and Control of 2D Spider Crane: a Lie-Backlund Approach,
Proceedings of the European Control Conference in Budapest Hungary, August 2009.
R. N. Banavar and Biswadip Dey
Stabilizing a Flexible Beam on A Cart: A Distributed Port Hamiltonian Approach,
Proceedings of the European Control Conference in Budapest Hungary, August 2009.
R. N. Banavar and Anup Menon
Time-Optimal Transfer in The Plate Ball Problem,
Proceedings of the European Control Conference in Budapest Hungary, August 2009
F. Kazi and R. N. Banavar
Energy Shaping Control of a Differentially Flat System,
Proceedings of the International Conference and Exhibition on Aerospace Engineering in IISc Bangalore, India in May 2009.
V. Joshi and R. N. Banavar
Motion Analysis of a Spherical Mobile Robot,
Robotica, Cambridge University Press, Vol. 27, Issue 03, pp: 343-353, May 2009 (published online June 2008)
N. S. Majarekar, R. N. Banavar and R. Ortega
An application of Immersion and Invariance to a Differential Algebraic System: A Power System,
Proceedings of the European Control Conference in Budapest Hungary, August 2009
N. S. Manjarekar, R. N. Banavar and R. Ortega
Nonlinear Control Synthesis for Asymptotic Stabilization of the Swing Equation using a Controllable Series Capacitor via Immersion and Invariance,
Proceedings of the 47th IEEE Conference on Decision and Control, pp:2493-2498, Cancun, Mexico, December 9-11, 2009
Hrushikesh A . Brave and R. N. Banavar
Energy-optimal Control of a Particle in a Dielectrophoretic System,
Proceedings of the IEEE CDC Shanghai (Dec, 2009)
2008
V. Sankaranarayanan, A. D. Mahindrakar and R. N. Banavar
A Switched Controller for an Underactuated Underwater Vehicle
pg. 2266- 2278, Vol. 13 Communications in Nonlinear Science and Numerical Simulations, 2008.
A. Banerjee, R. N. Banavar and D. Venkatesh
A Task Planner for a dual-arm robot: A geometric formulation,
Proceedings of TENCON 2008, Hyderabad, India, Novermber 18-21, 2008
F. Kazi, R. N. Banavar, P. Mullhaupt and D. Bonvin
Stabilization of a 2D-SpiderCrane Mechanism Using Damping Assignment Passivity-Based Control,
Procceedings of the IFAC World Congress in Seoul, South Korea, July 2008
N. S. Manjarekar, R. N. Banavar and R. Ortega
Application of Passivity-based Control to Stabilization of the SMIB System with Controllable Series Devices,
Procceedings of the IFAC World Congress in Seoul, South Korea, July 2008
2007
V. Joshi, R. N. Banavar, Rohit Hippalgaonkar
Design and Development of a Spherical Mobile Robot,
National Conference on Machines and Mechanisms, Bangalore, Dec. 2007
F. Kazi, R. N. Banavar, R. Ortega and N. S. Manjarekar
Minimizing Cable Swing in a Gantry Crane Using The IDA-PBC Methodology,
National Conference on Machines and Mechanisms, Bangalore, Dec. 2007
F. Kazi, R. N. Banavar, R. Ortega and N. S. Manjarekar
Point-to-Point Control of a Gantry Crane: A Combined Flatness And IDA-PBC Strategy,
Proceedings of the European Control Conference, Kos, Greece, 2007
2006
Ravi N. Banavar and V. Sankaranarayanan
Switched Finite-Time Control of a Class of Underactuated Systems
Lecture Notes in Control and Information Sciences (LNCIS Series),
Springer, 2006. (Monograph)
G. Viola, R. Ortega, R. N. Banavar, J. A. Acosta and A. Astolfi
Total Energy Shaping Control of Mechanical Systems:Simplifying the Matching Equations via Coordinate Changes,
3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Nagoya, July 2006
Faruk Kazi, R. N. Banavar, R. Ortega and N. S. Manjarekar
The IDA-PBC Methodology Applied to a Gantry Crane
Proceedings of the Mathematical Theory of Networks and Systems, Kyoto, July 2006
V. Sankaranarayanan and R. N. Banavar
Output Feedback Stabilization of a Mobile Robot
Proceedings of the Mathematical Theory of Networks and Systems, Kyoto, July 2006
2005
Amar Banerji, R. N. Banavar and D. Venkatesh
A Non-Dexterous Dual Arm Robot’s Feasible Orientations Along
Desired Trajectories: Analysis & Synthesis
Proceedings of the IEEE Conference on Decision and Control, Seville, December 2005