Qualification: 
M.Tech, B-Tech
amrithas@am.amrita.edu

Amritha S. currently serves as Assistant Professor (Sr. Gr.) at the Department of Electrical and Electronics Engineering at Amrita School of Engineering, Amritapuri. Amritha has completed B. Tech. in  EEE from T. K. M. Engineering college in the year 2009 and  M. Tech. in Guidance and Navigational Control from College of Engineering, Trivandrum in the year 2011.

Publications

Publication Type: Journal Article

Year of Publication Publication Type Title

2016

Journal Article

S. Mohan, L, N. J., and .S, A., “Decoupled Dynamic Control of Unicycle Robot Using Integral Linear Quadratic Regulator and Sliding Mode Controller ”, Journal of Proceedia Technology, vol. 26, 2016.[Abstract]


Unicycle robot is a non-holonomic, non-linear, static unbalance system that has the minimal number of point contact to the ground, therefore it is a perfect platform for researchers to study motion and balance control. This paper focuses on the dynamic modeling of unicycle robot. Two concepts used for modeling unicycle robot are: reaction wheel pendulum and inverted pendulum. The pitch axis is modeled as inverted pendulum and roll axis is modeled as reaction wheel pendulum. The unicycle yaw dynamics is not considered which makes derivation of dynamics relatively simple. For the roll controller, sliding-mode controller has been adopted and optimal methods are used to minimize switching-function chattering. For pitch controller, a Linear Quadratic Regulator controller has been implemented to drive the unicycle robot to follow the desired velocity trajectory. More »»

2013

Journal Article

A. Atheena and .S, A., “Matrix Converter based Unified Power flow Converters(UPFC),”, Proceedings of National Conference on Technological Advancements in Power and Energy, 2013.

Publication Type: Conference Proceedings

Year of Publication Publication Type Title

2016

Conference Proceedings

N. J. L, .S, A., and Mohan, S., “Coupled dynamic control of unicycle robot using integral LQR and sliding mode controller”, International Conference on Proceedings of Materials, Minerals and Energy, PMME 2016. 2016.[Abstract]


Unicycle robot is a non-linear, unbalance system that has the less number of point contact to the ground, therefore it is a best platform for researchers to study balance control and motion. This paper focuses on the dynamic modeling and control of unicycle robot. A coupled nonlinear system dynamics is considered for the controller design. Two different controllers are proposed – integral LQR for pitch dynamics and integral sliding mode for roll dynamics. Simulations performed on MATLAB/SIMULINK platform proved the effectiveness of the proposed controllers.

More »»

Publication Type: Conference Paper

Year of Publication Publication Type Title

2011

Conference Paper

A. .S, Benjamin.R, G. Ernestins, and , “Reentry Guidance for Reusable Launch Vehicle Using Nonlinear Tracking”, in 12th National Conference on Technological Trends, 2011.

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