Browsing NTNU Open by Author "Mylvaganam, Thulasi"
Now showing items 1-2 of 2
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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 ...