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

Vivek A. currently serves as Assistant Professor at the Department of Electrical and Electronics Engineering at Amrita School of Engineering, Amritapuri. Vivek A. has completed  B.Tech. in  EEE from Amrita School of Engineering, Amritapuri in the year 2010 and  M. Tech. in Control Systems from College of Engineering, Trivandrum in the year 2012. He has been associated with Amrita Vishwa Vidyapeetham since August 2012. He is currently pursuing his PhD at the department of Electrical and Electronics Engineering, Amrita Vishwa Vidyapeetham, Amritapuri.

Vivek A. has  delivered an invited talk at Cape Karunagapally on “Control of UAVs.” 

He is a member of ISTE and IEEE.

Publications

Publication Type: Book Chapter

Year of Publication Title

2018

R. Rahul, A. Vivek, and Prathibha S. Babu, “A Solar Photovoltaic System by Using Buck Boost Integrated Z-Source Quasi Seven Level Cascaded H-Bridge Inverter for Grid Connection”, 2018, pp. 687-697.[Abstract]


This paper brings up a grid-connected photovoltaic (PV) interface from the combined use of quasi-Z source inverter (qZSI) and cascaded H-bridge (CHB) inverter. Controlling and modeling of a Z-Source quasi CHB Seven level Inverter has been done. In one stage dc to ac conversion together with the buck/boost output is given by Quasi ZSI. PV applications requires best topology like this because of its numerous advantages such as reduced THD, high reliability and gain. Network for impedance has been drafted in this work for a seven level Z-source CHB Quasi inverter. To control switches of inverter shoot- through control along with Phase Shifted Inverted Sine carrier pulse width modulation is executed. In two stages power control scheme in closed loop condition is executed here. Controlling of each string voltage at the input side of photovoltaic is done by varying the inverter shoot-through type states with the help of individualistic Maximum Power Point Tracking control method. Each bridge DC link voltage was equalized with the help of DC link voltage control scheme. Controlling of grid transferred power is achieved from both of these controlling actions. A 2 Kilowatt photovoltaic inverter were designed simulated and executed with MATLAB simulation tool and also verified the open loop control.

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Publication Type: Conference Proceedings

Year of Publication Title

2018

K. R. Jayasree, A. Vivek, and Jayasree P. R., “Implementation of SRRT in Four Wheeled Mobile Robot”, International Conference on Soft Computing Systems ICSCS 2018: Soft Computing Systems. pp. 396-408, 2018.[Abstract]


A mobile robot shall efficiently plan a path from its starting point or current location to a desired target location. This is rather easy in a static environment. However, the operational environment of the robot is generally dynamic and as a result, it has many moving obstacles or a moving target. One or many, of these unpredictable moving obstacles may be encountered by the robot. The robot will have to decide how to proceed when there are obstructions in its path. How to make the mobile robot proceed in dynamic environment using SRRT technique in hardware is presented here. Using the proposed technique, the robot will modify its current plan when there is an obstruction due to an unknown obstacle and will move towards the target. The hardware model of four wheeled mobile robot and target are developed. The experimental platform is developed and control of the system is obtained using an Arduino UNO and Arduino Mega platforms.

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Publication Type: Conference Paper

Year of Publication Title

2018

Nandagopal J. L., A. Vivek, and Dr. Purushothaman A., “Compound optimal docking of multiple spacecrafts with formation reconfiguration”, in 2018 4th International Conference on Control, Automation and Robotics (ICCAR), 2018.

2017

D. G. Pillai, A. Vivek, and V. Srikanth, “Non-linear state estimation of PMSM using derivative-free and square-root Cubature Kalman Filter”, in 2017 International Conference on Intelligent Computing, Instrumentation and Control Technologies (ICICICT), Kannur, India, 2017.[Abstract]


This paper presents a non-linear state estimation of Permanent Magnet Synchronous Motor (PMSM) with currently developed non-linear estimator. The estimation tool used is Cubature Kalman Filter (CKF). The CKF is a derivative-free online sequential state estimator; compared to other nonlinear filters, it depends on integration for its operation. It inherits the property of original Kalman filter, including derivative-free and square-root filtering for improved stability and reliability. It can minimize errors due to linearization. Despite of having several advantages, CKF is not yet explored in the field of electric drives. Here PMSM is modeled in dq reference frame and for modeling of CKF and its algorithm uses modeling of PMSM in stationary αβ reference frame. The speed and rotor position is estimated and then it is feedback to PMSM for speed control. Simulation results shows the efficiency proposed estimator.

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2017

N. P. Varma, A. Vivek, and Dr. V. Ravikumar Pandi, “Target tracking, path planning and obstacle avoidance by intelligent robot”, in 2017 International Conference on Technological Advancements in Power and Energy ( TAP Energy), Kollam, India, 2017.[Abstract]


This work presents the design and simulation of a class of mobile robot namely differential drive robot, for target and path planning along with obstacle avoidance. A two wheeled differential robot is considered for this purpose. The target tracking is achieved by Go-to-Goal approach. Here the obstacle avoidance and target tracking is done along with time and path optimization using intelligent Fuzzy Controller and Genetic algorithm. Both the Genetic Algorithm and Fuzzy Controller are compared to find the flexibility and accuracy of the motion control. Different case studies are done to find which intelligent methodology is more efficient when it comes to path planning, target tracking and obstacle avoidance.

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2017

N. P. Varma, A. Vivek, and Dr. V. Ravikumar Pandi, “Intelligent wall following control of differential drive mobile robot along with target tracking and obstacle avoidance”, in 2017 International Conference on Intelligent Computing, Instrumentation and Control Technologies (ICICICT), Kannur, India, 2017.[Abstract]


This paper presents the design and simulation of a wall following control of a wheeled mobile robot using interval type-2 Fuzzy controllers (IT2FC). The speed and the orientation of the robot are controlled by using two separate IT2FCs so as to improve the accuracy of the wall-following robot. The robot described here is a two wheeled differential drive robot. The elapsed time and wall tracking accuracy is optimized by a two stage training approach that learns orientation as well as speed using two IT2FCs. The exhaustive collection of supervised input-output training pairs is eliminated by using this proposed approach. Here the obstacle avoidance and target tracking is done along with optimization of time. A comparison of fuzzy type-1 (T1FC) and interval type-2 controller is performed to find the efficiency of the robot wall following action with and without the presence of obstacle.

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2017

S. Sini, A. Vivek, and Nandagopal J. L., “Development and control of laboratory helicopter”, in 2017 International Conference on Technological Advancements in Power and Energy ( TAP Energy), Kollam, India, 2017.[Abstract]


Unmanned Aerial Systems (UAS) have wide range of applications in several fields. Laboratory model helicopter is an important platform for both the industries and academic fields. Laboratory helicopter is a multivariable system with two inputs and three outputs and it is a better platform for testing the different control strategies before putting it into the real system. In this paper, the laboratory model of helicopter with three degrees of freedom is developed economically and control of the system obtained in the presence of disturbance. Stabilization of the system under disturbances is very difficult. The experimental platform developed and control of the system obtained by using an Arduino UNO platform with PID controller. The proposed control strategy has been validated experimentally with the help of indigenously developed laboratory helicopter.

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2017

K. R. Jayasree, Jayasree P. R., and A. Vivek, “Smoothed RRT techniques for trajectory planning”, in 2017 International Conference on Technological Advancements in Power and Energy ( TAP Energy), Kollam, India, 2017.[Abstract]


Trajectory planning of a car-like mobile robot tracking a moving target by avoiding dynamic obstacles is developed using Smoothed Rapidly exploring Random Tree (RRT) and Smoothed Bidirectional RRT techniques. Case studies are done in dynamic and static environments. Kinematic model is considered for the mobile robot. The model of the system and the path planning algorithm including all case studies has been simulated for both RRT techniques. The performance comparison of both methods are done and the required results are obtained in MATLAB.

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2017

S. Sini, A. Vivek, and Nandagopal, J. L., “Trajectory tracking of 3-DOF lab helicopter by robust LQR”, in 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), Kollam, India, 2017.[Abstract]


A robust LQR control strategy for the effective trajectory tracking of a 3-DOF laboratory model helicopter is discussed. Parametric uncertainties and various external disturbances are considered in the system. The newly designed control strategy includes the feedback control by linear quadratic regulation (LQR) controller and the disturbance compensation technique. Initially the linearized model of the nominal nonlinear laboratory helicopter is obtained and a linear quadratic regulation controller is designed for the nominal linear system, and a disturbance compensator is added to the system, to reduce the effects of the external disturbances. The trajectory tracking errors of the system is reduced under various disturbances by using the proposed scheme.

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2017

P. Chandran, A. Vivek, and Amritha, S., “Optimisation of overhead crane”, in 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), Kollam, India, 2017.[Abstract]


Overhead cranes are commonly used in industries for the displacement of materials. Overhead cranes are modelled. Various trajectories are generated based on the open loop scheme. So, optimal control models have been proposed including energy, swing and transportation time. For optimization SQP is used as the optimization technique. It includes objective function for energy, swing and transportation time. Various constraints need to be satisfied. Constraints include both equality and inequality constraints. Multi objective optimization is being performed for optimizing both time and energy at the same time. Genetic algorithm is performed. It is a biologically inspired process. Pareto front is obtained which shows the trade offs between energy and time. By taking slope of energy time graph acceleration is obtained which is fed as reference input to a PID controller and is controlled. The simulations obtained are given in detail.

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2017

K. R. Jayasree, Jayasree P. R., and A. Vivek, “Dynamic target tracking using a four wheeled mobile robot with optimal path planning technique”, in 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), Kollam, India, 2017.[Abstract]


A car-like robot that tracks a moving target by following smoothed Rapidly exploring Random Tree (RRT) path planning technique is developed. Mobile robot can track the target by avoiding obstacles on its path. Moving target can also be efficiently tracked by the robot. Case studies are done in dynamic situations. Kinematic model is considered for the mobile robot and the velocity with which the left and right wheels of the car moves are observed using simulation. The model of the system and the path planning algorithm including all case studies has been simulated and the required results are obtained.

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2017

D. S. Lal and A. Vivek, “Dynamic modeling and control of omni-directional mobile robots”, in 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), Kollam, India, 2017.[Abstract]


Omni directional wheeled robots have recently gained increasing attention in the mobile robots applications due to their unique feature. They have higher degree of maneuverability and are widely used in dynamic environment applications due to their holonomic property. Approximation of the parametric uncertainties in system model leads to inaccurate model that leads to improper control design. Problems of control designs for omnidirectional mobile robots with parametric uncertainty are addressed. Anadaptive sliding mode control (SMC) is presented. The commonly adopted adaptive linearizing control fails due to control singularity. The presence of parametric uncertainty directs the designed control input to a very large value. This happens when a term in the calculated control input tends to zero. For solving such a problem, a robust control with smooth transition has been presented. Path planning with static obstacle avoidance is also done. Simulation of path tracking and path planning are carried out.

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2017

D. Mohan and A. Vivek, “Navigation of two wheeled mobile robots cooperatively carrying an object”, in 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), Kollam, India, 2017.[Abstract]


The paper presents a method that allows two wheeled, mobile robots to navigate through known environments while cooperatively carrying an object. In the navigation method, a leader robot and a follower robot cooperatively perform obstacle avoidance or they cooperatively transport an object to a desired destination. The two robots are controlled by a single PID Controller. Here, we propose a motion-planning method of two mobile robots for cooperative transportation of an object is proposed. Simulations and experiments verify the effectiveness of the approach for cooperative navigation of two robots. In this problem, two mobile robots have to carry and maintain a box over their body while moving to a desired position. The task assigned here is the cooperative overhead transportation of a box, in which two robots have to carry the box. Little movement error will result in mission failure. This task has various kinds of problems, such as obstacle avoidance and maintenance of stability. All of these problems cannot be solved at once. The controller used here is Proportional Integral Derivative (PID) Controller. The stabilization of two robots is the main challenge.

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2015

S. Parvathy and A. Vivek, “A photovoltaic water pumping system with high efficiency and high lifetime”, in Advancements in Power and Energy (TAP Energy), 2015 International Conference on, Kollam, India, 2015.[Abstract]


A highly efficient, low cost photovoltaic water pumping system integrating a push-pull converter and a three-phase voltage source inverter using a single photovoltaic panel is proposed which has got high life time due to the absence of batteries. The converter steps up the panel voltage and the inverter powers the AC motors for varying speed conditions and it uses a sinusoidal pulse width modulation (SPWM) strategy with 1/6 optimal third harmonic injection. Maximum Power Point Tracking (MPPT) strategy forces the PV to extract the maximum power at the given irradiance level. The voltage reference obtained from this is used in a PI controller to adjust the motor speed. Thus the proposed pumping system works on varying power input and gives varying water output at a given pump head and can be used in isolated locations to deliver water.

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2015

S. Parvathy, A. Vivek, and G. Manjula, N., “Voltage Compensation using Dynamic Voltage Restorer during Fault conditions”, in International Conference on Recent Innovations in Engineering and Technology, Travancore College of Engineering, 2015.

2014

M. Seena, Sreejith, K., and A. Vivek, “Novel Soft Switched Boost Converter for Standalone PV Systems”, in International Conference On Computation Of Power, Energy, Information And Communication (ICCPEIC), 2014.

2014

P. Neethu S. and A. Vivek, “Hysteretic PWM Controlled High Gain Quadratic Boost Converter”, in International Conference On Computation Of Power, Energy, Information And Communication (ICCPEIC), 2014.

2014

V. Vijayakumar, R. Divya, and A. Vivek, “Sliding mode controlled quadratic boost converter”, in International Conference on Computation of Power, Energy, Information and Communication (ICCPEIC), 2014 , Chennai, 2014.[Abstract]


This paper deals with a quadratic boost converter which belongs to cascade boost family, controlled by sliding mode controller. In the cascade boost family, quadratic boost converter is the best trade-off when circuit complexity and modulator saturation is considered. Sliding mode control being a nonlinear control results in a robust and stable system when applied to switching converters which are inherently variable structured systems. The stability of this system is analysed through Lyapunov's approach. Analysis is done for load regulation, line regulation and step response of the system on Simulink model. Also these results are compared with that of PID controller based system.

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2012

A. Vivek, S., U., and Sheelu, J., “Chattering Free Sliding Mode Control for Re Usable Launch Vehicle”, in 13th National Conference on Technological Trends in College Of Engineering Trivandrum, 2012.

Publication Type: Journal Article

Year of Publication Title

2016

A. Vivek and Haridas, V., “Longitudinal Guidance of Unmanned Aerial Vehicle Using Integral Sliding Mode Control”, Global Colloquium in Recent Advancement and Effectual Researches in Engineering, Science and Technology (RAEREST 2016) , vol. 25, pp. 36–43, 2016.[Abstract]


This paper proposes a nonlinear scheme for guidance and longitudinal control of Unmanned Aerial Vehicle(UAV). The main objective of the guidance algorithm is to minimize the errors in altitude and flight path angle of the vehicle during flight. The guidance scheme must perform well in the case of small as well as large longitudinal errors, without saturating the pitch angle of the vehicle, which act as the control input. Integral Sliding Mode Control(ISMC) is used in longitudinal control of UAV. It is an improved sliding control method. Initially a linear sliding surface is employed for longitudinal guidance but it cannot provide satisfactory performance for both large and small errors in altitude and flight path angle and hence a nonlinear sliding surface is proposed. The simulations are carried out in MATLAB®/SIMULINK®.The simulation results show the effectiveness and robustness of the proposed control scheme. More »»

2016

A. B. Sa, A. Vivek, and Nandagopal J. L., “Simulation and Analysis of Integral LQR Controller for Inner Control Loop Design of a Fixed Wing Micro Aerial Vehicle (MAV)”, Global Colloquium in Recent Advancement and Effectual Researches in Engineering, Science and Technology (RAEREST 2016) , vol. 25, pp. 76–83, 2016.[Abstract]


The focus of this paper is on the autopilot control loop design of fixed wing Micro Aerial Vehicles (MAVs).The control methodologies used to design the lateral and longitudinal control are based on Proportional Integral Derivative (PID) and Linear Quadratic Regulator (LQR) with integral action control techniques. The design of these controllers is based on the assumption that the system dynamics can be decoupled to longitudinal and lateral dynamics. A nominal model is chosen among many linear models linearized under various operating conditions. The resulting controllers are simulated in MATLAB® SIMULINK® workspace and results are studied. The simulation results show that both the controllers gives satisfactory performances with or without disturbances, but the LQR controller provides better disturbance rejection and exhibits better overall performance. More »»