Dr Somasundar Kannan's Outputs (9)

Adaptive control of hysteretic robotic arm in operational space. (2016)
Presentation / Conference Contribution
KANNAN, S., QUINTANAR-GUZMAN, S., BEZZAOUCHA, S., OLIVARES-MENDEZ, M.A. and VOOS, H. 2016. Adaptive control of hysteretic robotic arm in operational space. In Proceedings of the 5th International conference on mechatronics and control engineering 2016 (ICMCE 2016), 14-17 December 2016, Venice, Italy. New York: ACM [online], pages 92-96. Available from: https://doi.org/10.1145/3036932.3036957

The focus of the current article is on Operational Space Control of a single degree of freedom robotic arm with hysteretic joint behaviour due to actuation by a single Shape Memory Alloy (SMA) wire. A Closed Loop Inverse Kinematics Algorithm is used... Read More about Adaptive control of hysteretic robotic arm in operational space..

Adaptive control of robotic arm with hysteretic joint. (2016)
Presentation / Conference Contribution
KANNAN, S., BEZZAOUCHA, S., QUINTANAR-GUZMAN, S., OLIVARES-MENDEZ, M.A. and VOOS, H. 2016. Adaptive control of robotic arm with hysteretic joint. In Proceedings of 4th International conference on control, mechatronics and authormation 2016 (ICCMA 2016), 7-11 December 2016, Barcelona, Spain. New York: ACM [online], pages 46-50. Available from: https://doi.org/10.1145/3029610.3029632

This article addresses the problem of control of robotic arm with a hysteretic joint behaviour. The mechanical design of the one-degree of freedom robotic arm is presented where the joint is actuated by a Shape Memory Alloy (SMA) wire. The SMA wire b... Read More about Adaptive control of robotic arm with hysteretic joint..

Model predictive control for spacecraft rendezvous. (2016)
Presentation / Conference Contribution
KANNAN, S., SAJADI-ALAMDARI, S.A., DENTLER, J., OLIVARES-MENDEZ, M.A. and VOOS, H. 2016. Model predictive control for spacecraft rendezvous. In Proceedings of the 4th International conference on control, mechatronics and automation 2016 (ICCMA 2016), 7-11 December 2016, Barcelona, Spain. New York: ACM [online], pages 121-125. Available from: https://doi.org/10.1145/3029610.3029633

The current paper addresses the problem of Spacecraft Rendezvous using Model Predictive Control (MPC). The Clohessy-Wiltshire-Hill equations are used to model the spacecraft relative motion. Here the rendezvous problem is discussed by trajectory cont... Read More about Model predictive control for spacecraft rendezvous..

A tracking error control approach for model predictive position control of a quadrotor with time varying reference. (2016)
Presentation / Conference Contribution
DENTLER, J., KANNAN, S., OLIVARES MENDEZ, M.A., and VOOS, H. 2016. A tracking error control approach for model predictive position control of a quadrotor with time varying reference. In Proceedings of the 2016 IEEE (Institute of Electrical and Electronics Engineers) international conference on Robotics and biomimetrics (ROBIO 2016), 3-7 December 2016, Qingdao, China. Piscataway: IEEE [online], pages 2051-2056. Available from: https://doi.org/10.1109/ROBIO.2016.7866631

In mobile robotic applications, a common problem is the following of a given trajectory with a constant velocity. Using standard model predictive control (MPC) for tracking of time varying trajectories leads to a constant tracking error. This problem... Read More about A tracking error control approach for model predictive position control of a quadrotor with time varying reference..

Hierarchical control of aerial manipulation vehicle. (2016)
Presentation / Conference Contribution
KANNAN, S., BEZZAOUCHA, S., GUZMAN, S.Q., DENTLER, J., OLIVARES-MENDEZ, M.A. and VOOS, H. 2017. Hierarchical control of aerial manipulation vehicle. AIP conference proceedings [online], 1798: proceedings of the 11th International conference on mathematical problems in engineering, aerospace and sciences world congress 2016 (ICNPAA 2016), 4-8 July 2016, La Rochelle, France, article 020069. Available from: https://doi.org/10.1063/1.4972661

Hierarchical Control of the Aerial Manipulator is treated here. The modelling aspect of the highly coupled Aerial Vehicle which includes Quadrotor and manipulator is discussed. The control design to perform tasks in operational space is addressed alo... Read More about Hierarchical control of aerial manipulation vehicle..

Model predictive control for cooperative control of space robots. (2016)
Presentation / Conference Contribution
KANNAN, S., ALAMDARI, S.A.S., DENTLER, J., OLIVARES-MENDEZ, M.A. and VOOS, H. 2017. Model predictive control for cooperative control of space robots. AIP conference proceedings [online], 1798: proceedings of the 11th International conference on mathematical problems in engineering, aerospace and sciences world congress 2016 (ICNPAA 2016), 4-8 July 2016, La Rochelle, France, article 020068. Available from: https://doi.org/10.1063/1.4972660

The problem of Orbital Manipulation of Passive body is discussed here. Two scenarios including passive object rigidly attached to robotic servicers and passive body attached to servicers through manipulators are discussed. The Model Predictive Contro... Read More about Model predictive control for cooperative control of space robots..

Control of aerial manipulation vehicle in operational space. (2016)
Presentation / Conference Contribution
KANNAN, S., QUINTANAR-GUZMAN, S., DENTLER, J., OLIVARES-MENDEZ, M.A. and VOOS, H. 2016. Control of aerial manipulation vehicle in operational space. In Proceedings of the 8th International conference on electronics, computers and artificial intelligence 2016 (ECAI 2016), 30 June - 02 July 2016, Ploiesti, Romania. Piscataway: IEEE [online], pages 1-5. Available from: https://doi.org/10.1109/ECAI.2016.7861157

Operational Space Control of an Aerial Manipulation Vehicle is discussed here. The Aerial Manipulation Vehicle has a highly coupled dynamics due to the interaction between the Quadrotor and the attached manipulator. The nonlinear coupling introduces... Read More about Control of aerial manipulation vehicle in operational space..

Lightweight robotic arm actuated by shape memory alloy (SMA) wires. (2016)
Presentation / Conference Contribution
QUINTANAR-GUZMÁN, S., KANNAN, S., OLIVARES-MENDEZ, M.A. and VOOS, H. 2016. Lightweight robotic arm actuated by shape memory alloy (SMA) wires. In Proceedings of the 8th International conference on electronics, computers and artificial intelligence 2016 (ECAI 2016), 30 June - 02 July 2016, Ploiesti, Romania. Piscataway: IEEE [online], pages 1-6. Available from: https://doi.org/10.1109/ECAI.2016.7861065

The current paper discusses the design, modeling and control of a Light weight robotic arm actuated by Shape Memory Alloy (SMA) actuators, usable for applications such as Aerial Manipulator. Compared to servo motor based robotic arm the proposed desi... Read More about Lightweight robotic arm actuated by shape memory alloy (SMA) wires..

A modularization approach for nonlinear model predictive control of distributed fast systems. (2016)
Presentation / Conference Contribution
DENTLER, J., KANNAN, S., MENDEZ, M.A.O. and VOOS, H. 2016. A modularization approach for nonlinear model predictive control of distributed fast systems. In Proceedings of 24th Mediterranean conference on control and automation 2016 (MED 2016), 21-24 June 2016, Athens, Greece. Piscataway: IEEE [online], pages 292-297. Available from: https://doi.org/10.1109/MED.2016.7535973

Distributed interconnected systems are omnipresent today. The development of advanced control methods for such systems are still challenging. Herein, the real-time applicability, flexibility, portability and ease of implementation are issues of the e... Read More about A modularization approach for nonlinear model predictive control of distributed fast systems..