R. Palamakumbura

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. Abstract— Control of large arrays of microactuators and sensors, are anticipated to be of much interest to the technological advances of tomorrow. Prominent among the requisite control tasks will be that of producing stable dynamic patterns. Here we address the problem of practical asymptotic stabilization of travelling pulses in a one dimensional array(More)
In this paper we present a trajectory generation scheme for approximate way point tracking for a nonholonomic differential wheeled mobile robot. The generated trajectories are guaranteed to satisfy the nonholonomic dynamics and minimizes the jerk of the center of mass motion of the robot. Minimizing jerk is desirable to ensure the smoothness of the(More)
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