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

Indu V. currently serves as Assistant Professor (Sr.Gr.) at the Department of Electrical and Electronics Engineering at Amrita School of Engineering, Amritapuri. She has completed M. Tech in Instrumentation and Control System.

Publications

Publication Type: Conference Paper

Year of Publication Title

2017

H. Gopinath, Indu V., and Meher Madhu Dharmana, “Development of autonomous underwater inspection robot under disturbances”, in 2017 International Conference on Technological Advancements in Power and Energy ( TAP Energy), Kollam, India, 2017.[Abstract]


In the modern world, there are so many applications where Autonomous Underwater Inspection Robots are used. Applications like pipeline inspection, ship and flight wreck search, surveying seabed mosaics, etc. are few examples for that. How to utilize the control algorithm for stabilizing the underwater vehicle, so that they can perfectly execute the above applications is explained in this paper. Here a Time Delay Controller is used for the position and altitude control of an underwater inspection robot with disturbances. An Inertial Measurement Unit is used as the sensor since the controller used here needs the derivative of the system state to be known. The controller proposed here makes computations easier and it reduces the steady state error.

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2017

B. Shilpa, Indu V., and Rajasree, S. R., “Design of an underactuated self balancing robot using linear quadratic regulator and integral sliding mode controller”, in 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), Kollam, India, 2017.[Abstract]


This paper describes the design procedure of an underactuated self balancing robot using LQR and ISMC. The two wheeled self balancing robot works on the principle of inverted pendulum concept so it is otherwise referred to as two wheeled inverted pendulum mobile robot. The two WMR is widely used in many applications such as a personal transport system (Segway), robotic wheelchair, baggage transportation and navigation etc. LQR and ISMC are introduced into the system in order to achieve the set point control task. That is the 2 WMR should reach the desired set point and then stops while keeping the balance. Both the controller will track the system but the performance of the controller slows some slight differences. By using the MATLAB simulation, two methods are compared and discussed. Also the load transportation task is also assigned to this 2 WMR and controlled using LQR controller.

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2017

H. Gopinath, Indu V., and Meher Madhu Dharmana, “Autonomous underwater inspection robot under disturbances”, in 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), Kollam, India, 2017.[Abstract]


Autonomous underwater inspection robots are getting worldwide interest since they used for various applications like surveying seabed mosaics, shipwreck search, pipeline inspection etc. For performing the above applications, the control of position and altitude of underwater inspection robots are extremely significant as the worth of information obtained is very much reliant in the correctness of position control and tracking of the Autonomous underwater inspection robot. So a Time Delay Controller for the position and altitude control of an underwater inspection robot with disturbances is introduced. A TDC performs its best when the data acquisition rate is rapid. But for the control of underwater inspection robot, which uses a Doppler velocity log navigation system (DVL) as sensor, it can't maintain the data acquisition rate fast since DVL gives data at a poor acquisition rate, results in lessening the performance of TDC. So an integral sliding-mode controller is also provided to the typical TDC to avoid this problem and to improve the control precision even if the DVL navigation system is in operation. The controller proposed here makes computations easier and it reduces the steady state error.

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