Shanuka Jayasinghe

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In this paper, an adaptive proportional-derivative (PD) plus sliding mode control (SMC) algorithm, APD-SMC in short, is proposed for tracking control of robotic manipulators. The PD control part is used to bring the trajectory to the normalized tracking, the SMC part forces the trajectory close to the sliding surface, and the adaptive control part is used(More)
A hybrid actuated system is a special mechatronic system that combines two different driving motors: an uncontrollable constant velocity (CV) motor and a controllable servo motor. It is a challenge for controlling such a hybrid actuated system to achieve high contour tracking performances. Following the position domain control principle, the CV motor is(More)
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