Upcoming events: Visitors in the monsoon semester: Florentina Nicolau (ENSEA, Cergy, Paris), Constantin Morarescu (University of Lorraine),
Zhong-Ping Jiang (New York University)
Recent academic pursuits: Investigating (1) geometric control laws in a coordinate-free setting for constrained mechanical systems and a network of agents, (2) computing explicit bounds in the inverse function theorem and the implicit function theorem, and exploring applications that benefit from these, (3) exploring various facets of the discrete time Maximum Principle, with particular emphasis on frequency constraints, rate constraints and numerical techniques to solve two-point boundary value problems, (4) estimation algorithms on Lie groups - theory and computation.
Recent events and talks:
Lectures on Multiagent Systems and Social Networks by Constantin Morarescu, Oct 11, 12, 13, 2023.
A 2-day workshop for graduate students across institutes to enable exchange of ideas and intermingling - Sept. 15, 16, 2023.
A set of 3 lectures on "Differential Flatness and Control," by Florentina Nicolau FL-Diff-Flatness, September 2023.
A 4-day workshop on Mechanics and Control, MechCon2023, held at IIT Bombay, March 15-18, 2023.
Consensus and Synchronization: From Laplacian Flow and Kuramoto Oscillator to Lie Groups:
RB-CCPS-Oct2022 (At the Robert Bosch Centre for Cyber Physical Systems, IISc, Blore (October14, 2022))
Geometric PID Controller for Constrained Mechanical Systems on Lie Groups
Talk at U Lorraine (At the University of Lorraine (May 2022): )
Geometric Second Order Laplacian Flow for Consensus on Lie Groups
(Joint work with a doctoral student: Talk to be delivered at the ECC 2022 (London): ECC2022-London
(This paper won the second prize from three in the Best Students' Paper Award category at the
An interesting set of 4 lectures on Differential Geometry and Lie Groups: An informal set of 4 lectures
on Differential Geometry and Lie Groups delivered by my doctoral student, Rama Seshan Chandrasekharan, in Dec 2022,
to an audience of eager-to-learn undergraduates and graduates from IITB, IITD, IITK, IITM, IITGan and IITPkd. Here is the link.
A write-up on the Systems and Control group in the IEEE Control Systems magazine
"Systems and Control, IIT Bombay" in the series Institutes in Control of the IEEE Control Systems Magazine, vol. 43, no. 1, pp. 94-97, Feb. 2023, doi: 10.1109/MCS.2022.3216692.
Reflections on our group here: An interview with the IEEE Control Systems magazine
"Ravi N. Banavar [People in Control]," in IEEE Control Systems Magazine, vol. 40, no. 1, pp. 23-25, Feb. 2020, doi: 10.1109/MCS.2019.2950488.
A wee bit of pride:
Runner-up, Best Student's Paper Award, European Control Conference, London, July 15,2022.
Rama Seshan Chandrasekharan, Ravi N Banavar and Arun D Mahindrakar
Geometric Second-Order Laplacian Flow for Consensus on Lie Groups
Automatica Paper prize: The article, "A discrete-time Pontryagin maximum principle on matrix Lie groups,"
(https://doi.org/10.1016/j.automatica.2018.08.026) by Karmvir Singh Phogat (https://sites.google.com/view/karmvirs-homepage/home) who worked with Debasish Chatterjee and me during his doctoral studies, is one of the three papers to receive the Automatica Paper Prize for the years 2018-2020(https://www.ifac-control.org/awards/journal-awards). The IFAC journal Automatica is a premier journal in the field of Automatic Control.
Optimal control, nonlinear control
Geometric mechanics (Lagrangian and Hamiltonian mechanics)
Estimation on Lie groups
Application areas - Mechanical and aerospace problems (robotics, launch vehicles, spacecrafts), low Reynolds number locomotion
Ph. D. (May 92) - University of Texas at Austin
M. S. (May 88) - Clemson University, Clemson
B. Tech. (July 86) - Indian Institute of Technology, Madras
Associate Editor, Systems and Control Letters, Elsevier Press
Associate Editor, International Journal of Control, Taylor and Francis.
Technical Associate Editor, IEEE Control Systems Magazine.
A sketch of the content of courses offered
Linear systems theory, vector spaces, nonlinear systems and control, differential geometric methods in control,
geometric mechanics - symmetry and reduction.
Recent presentations and short course modules
ISRO success stories: (Our long interaction with the Indian Space Research Organization)
Presentation at the ISRO symposium (IIT Madras, Aug 2019) ISRO_IITM_presen
A 10-day course on “Mechanics from a Geometric Viewpoint,” from Aug. 5th to Aug 16th, 2019 at IIT-Bombay
Instructors: Ravi N Banavar and D. H. S. Maithripala
A popular talk: Parallel parking, falling cats, spherical robots and differential geometry, Feb 2017 (RNB_IIT_GN_popular_talk)
Youtube link: https://youtu.be/TMlOUF5hxts
Two talks on Feedback Linearization delivered at IIT-Kanpur, September 2016
Talks on Nonlinear Controllability delivered at the Winter School on Control and Dynamical Systems, IIT Gandhinagar,
Feb 2016. notes1, notes2
Talks delivered in a research symposium in the Department of Aerospace Engineering, IISc, Feb 2016.
Attitude Tracking Control for Aerobatic Helicopters: A Geometric Approach
Course for Monsoon 2023 at IIT-B:
SC 639 - Mathematical structures for Systems and Control - (Wed, Fri: 9.30 AM to 10.55 AM), Hybrid mode(official slot: 5)
Venue: Yet to be finalized.
TAs for the course: Ashutosh Jindal, Viyom Vivek, Srishti Siddharth, J. R. Vighnesh
Course outline. Lecture slides Video lectures