Santhakumar Mohan

TL;DR: In this paper, an extended Kalman filter (EKF) based adaptive control method for an autonomous underwater vehicle-manipulator system (UVMS) based on an EKF was proposed.

TL;DR: A robust finite time trajectory tracking control approach is proposed for autonomous underwater vehicle (AUV), which belongs to the class of highly nonlinear, coupled dynamics with motion in 6-degrees-of-freedom (DOF) and has been extended to task space control problem of an AUV - manipulator system employed for underwater manipulation tasks.

TL;DR: In this article, a coordinated motion control scheme using a disturbance observer in task space for an autonomous underwater vehicle-manipulator system (UVMS) is presented, which permits self-motion which can be utilized to perform power efficient trajectory tracking and at the same time assures that the system is able to track the given desired desired spatial trajectory with minimal errors.

TL;DR: In this paper, a vertical planar 2 P RP-2 P PR parallel manipulator along with a serial planar RRR passive orthosis (exoskeleton/supporting system) for performing sitting/lying type (stationary trainer) lower limb rehabilitation therapies in the sagittal plane is presented.

TL;DR: In this article, a robust nonlinear proportional-integral-derivative (PID)-like fuzzy control scheme for a task-space trajectory tracking control of an AUVMS employed for deep-sea intervention tasks is presented.