Browsing NTNU Open by Author "Mylvaganam, Thulasi"

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    • Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV 

      Wrzos-Kaminska, Marianna; Mylvaganam, Thulasi; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2020)
      In this paper we consider the problem of mixed H 2 /H ∞ control to combine optimal and robust control for a double integrator system with nonlinear performance variables, and we apply this to control an articulated ...

    • Data-driven control of planar snake robot locomotion 

      Scarpa, Maria; Nortmann, Benita; Pettersen, Kristin Ytterstad; Mylvaganam, Thulasi (Chapter, 2022)
      A direct data-driven strategy for snake-robot locomotion control is proposed in this paper. The approach leads to a time-varying state feedback controller with robustness guarantees. Instead of relying on exact model ...