Isuru Basnayake

New Mexico State University, University of Peradeniya

Papers

Total Citations

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About

Isuru Basnayake is a robotics researcher specializing in the control of complex, underactuated mechanical systems, with a primary focus on space robotics and autonomous mobility. His most cited work, "Attitude and position control for formation flying of space robots equipped with a robotic manipulator" (2024, 6 citations), introduces a novel six degree-of-freedom guidance and control algorithm for free-flyer robots on the International Space Station. This research uniquely combines a sliding mode controller for rotational motion with a model predictive controller, addressing the critical challenge of coordinating a robot’s base movement with its manipulator arm during formation flying. In his earlier work, "Intrinsic PID controller for a segway type mobile robot" (2017, 4 citations), Basnayake tackled the difficult problem of controlling underactuated, non-holonomic systems by extending an intrinsic geometric PID controller to self-balancing platforms. His contributions are significant for advancing autonomous robotic operations in constrained environments, from orbital servicing to terrestrial mobility. With a clear trajectory toward practical, real-world applications, Basnayake’s research is laying foundational control theory for next-generation robotic systems.