S Amritha

Papers

Total Citations

H-Index

About

S. Amritha is a robotics researcher specializing in the dynamic control of non-holonomic, underactuated systems—particularly the unicycle robot, a challenging platform for studying motion and balance due to its minimal ground contact and inherent instability. Her major contributions center on advanced control strategies that address the coupled and decoupled dynamics of such systems. In her highly cited 2016 paper, "Decoupled Dynamic Control of Unicycle Robot Using Integral Linear Quadratic Regulator and Sliding Mode Controller" (8 citations), she introduced a novel combination of Integral Linear Quadratic Regulator (ILQR) and Sliding Mode Controller (SMC) to stabilize and control the robot's motion. She extended this work in 2018 with "Coupled Dynamic Control of Unicycle Robot Using Integral Linear Quadratic Regulator and Sliding Mode Controller" (8 citations), where she tackled the more complex coupled dynamics, demonstrating robustness against nonlinearities and disturbances. Amritha's research has provided foundational insights into balancing and trajectory tracking for mobile robots, influencing subsequent work in autonomous systems and control theory. Her innovative use of hybrid control methods continues to inspire students and researchers exploring the frontiers of robotic locomotion and nonlinear control.