G. V. A. G. Asanka Perera

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This paper presents the modeling, numerical simulation, control and the testing of a fuzzy integrated self-tuning PID controller for a line following mini robot. The system is modeled for different lighting conditions considering the desired and ambient light intensities. The system modeling is performed in a simulation environment and the generated control(More)
Identification of system parameters of a small DC motor is a complex and challenging task. This research proposes a disturbance observer (DOB) based novel Change of Inertia Observer (CIOB) to estimate the moment of inertia of a DC motor. Moment of inertia of a small DC motor is estimated using CIOB based velocity test and reaction torque observer (RTOB)(More)
Scaling is a technique used to transfer the dynamic motion properties of a remote device (slave robot) to the operator (master robot) or vice versa. This is a challenging task in terms of force, position, power, and impedance scaling approaches when master and slave manipulators are dissimilar. Teleoperation using scaling methods is a popular topic in(More)
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