M
M. Santhakumar
Researcher at Indian Institute of Technology Indore
Publications - 20
Citations - 307
M. Santhakumar is an academic researcher from Indian Institute of Technology Indore. The author has contributed to research in topics: PID controller & Control theory. The author has an hindex of 9, co-authored 20 publications receiving 257 citations. Previous affiliations of M. Santhakumar include KAIST.
Papers
More filters
Journal ArticleDOI
Task Space Control of an Autonomous Underwater Vehicle Manipulator System by Robust Single-Input Fuzzy Logic Control Scheme
TL;DR: In this paper, a robust single-input fuzzy logic control (RSIFLC) was proposed for task-space trajectory control of an AUVMS employed for underwater manipulation tasks.
Journal ArticleDOI
Inverse dynamics and robust sliding mode control of a planar parallel (2-PRP and 1-PPR) robot augmented with a nonlinear disturbance observer
Yogesh Singh,M. Santhakumar +1 more
TL;DR: In this paper, a modular lightweight three degrees of freedom (DOF) vertical planar parallel robotic manipulator with a singularity free working region and that which is partially decoupled is proposed.
Journal ArticleDOI
Power efficient dynamic station keeping control of a flat-fish type autonomous underwater vehicle through design modifications of thruster configuration
M. Santhakumar,T. Asokan +1 more
TL;DR: In this paper, an underactuated flat-fish type AUV is analyzed and a new method of station keeping is proposed with an addition of dedicated thrusters, where the effect of introduction of additional thrusters on tracking performance has been analysed and a modular configuration is proposed to reduce its influence on tracking control.
Journal ArticleDOI
Robust nonlinear PID-like fuzzy logic control of a planar parallel (2PRP-PPR) manipulator
TL;DR: A robust nonlinear proportional-integral-derivative (PID)-like fuzzy control scheme is presented and applied to complex trajectory tracking control of a 2PRP-PPR (P-prismatic, R-revolute) planar parallel manipulator with three degrees-of-freedom (DOF) in the presence of parameter uncertainties and external disturbances.
Journal ArticleDOI
Investigation into the dynamics and control of an underwater vehicle-manipulator system
TL;DR: In this paper, a model reference control (MRC) scheme is proposed for the underwater vehicle-manipulator system (UVMS) and the effectiveness of the proposed control scheme is demonstrated using numerical simulations along with comparative study between conventional proportionalintegral-derivative (PID) control.