D. H. S. Maithripala
Papers
8
Total Citations
59
H-Index
4
About
D. H. S. Maithripala is a control theorist whose research centers on the geometric control of mechanical systems, with a particular focus on underactuated and nonholonomic robots. His major contributions lie in developing feedback regularization techniques and geometric PID controllers that enable trajectory tracking for challenging robotic platforms, including spherical robots, hoop robots, bipedal walkers, and Segway-type mobile robots. His most cited work, "Semi-globally exponential trajectory tracking for a class of spherical robots" (21 citations), addresses the complex dynamics of rolling robots, while his geometric PID control framework for hoop robots on inclined planes (14 citations) provides a rigorous method for asymptotic tracking under disturbances and uncertainties. Maithripala has also contributed to trajectory generation for differential wheeled mobile robots, minimizing jerk while respecting nonholonomic constraints. His work on intrinsic PID controllers for underactuated systems on Lie groups represents a significant theoretical advancement, generalizing classical control methods to non-Euclidean configuration spaces. With publications spanning from 2013 to 2024, his research continues to bridge geometric mechanics and practical robot control, offering elegant solutions to the fundamental challenge of stabilizing and controlling complex mechanical systems.
Research Focus
Key Achievements
Top Papers
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- 5Intrinsic PID controller for a segway type mobile robot4 citations · 2017
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- 8A Geometric PID Control Framework for Mechanical Systems2 citations · 2016