17 citations · 28 across the 9 of their papers we have counts for
3 papers · 1 filter
A Geometric PID Control Framework for Mechanical Systems
D. H. S. Maithripala, T. W. U. Madhushani, J. M. Berg
These lectures demonstrate the development of a PID control framework for mechanical systems. Based on the observation that mechanical systems are essentially double integrator sys…
Feedback Regularization and Geometric PID Control for Trajectory Tracking of Coupled Mechanical Systems: Hoop Robots on an Inclined Plane
T. W. U. Madhushani, D. H. S. Maithripala, J. M. Berg
This paper applies geometric PID control for asymptotic tracking of a desired trajectory by a hoop robot in the presence of disturbances and uncertainties. The hoop robot, consisti…
Semi-globally Exponential Trajectory Tracking for a Class of Spherical Robots
T. W. U. Madhushani, D. H. S. Maithripala, J. V. Wijayakulasooriya +1
A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we d…