甄圣超

2027

A NESO-TD-based dual-loop integral sliding mode control framework for robust trajectory tracking of wheeled mobile robots

Control Engineering Practice

DOI

2026

基于改进自抗扰带电作业飞行机械臂关节模组振动抑制与柔顺控制

《微电机》

2026

Diffeomorphism-Based Prescribed Performance Adaptive Robust Control With Nash Game Optimization for Humanoid Robots

IEEE transactions on fuzzy systems

DOI

2026

Generalized Udwadia–Kalaba-Based Robust Control for Humanoid Robot Lower Limbs Under Comprehensive Constraints

IEEE transactions on industrial electronics (1982. Print)

DOI

2026

Dual closed-loop tracking control for wheeled mobile robot via HMPC and nonlinear ESO-TD integral sliding mode control

Journal of the Franklin Institute

DOI

2026

Adaptive Robust Control for Underactuated Bipedal Parallel Wheel-Legged Robots: A Nash Game-Based Constraint Following Approach

IEEE transactions on fuzzy systems

DOI

2026

Robot Joint Module Optimization Robust Algorithm Design With Simulation and Experimental Validation

International Journal of Robust and Nonlinear Control

DOI

2026

A leakage-type adaptive robust control method for collaborative robot joints with fuzzy uncertainty: trajectory constraints and parameter optimization

Information Sciences

DOI

2026

Game-theoretic approach for adaptive resilient robust control design of mechanical systems with cyberattack and uncertainty

Journal of the Franklin Institute

DOI

2026

A leakage-type adaptive robust control for constrained joint modules in collaborative robotics via the Udwadia-Kalaba equation

Robotica (Cambridge. Print)

DOI

2026

UK-theory-based cooperative game approach for adaptive robust control of space transportation manipulators with prescribed performance

Journal of the Franklin Institute

DOI

2026

Udwadia theory-based performance guaranteed adaptive robust constraint-following control for uncertain robotic manipulators with sensor noise

Nonlinear Dynamics

DOI

2025

面向电网带电作业的飞行机械臂动力学建模与鲁棒控制

《动力学与控制学报》

2025

协作机器人利用二阶前馈动量观测器的碰撞检测方法

《机械科学与技术》

DOI

2025

基于广义Udwadia-Kalaba的电网飞行机械臂关节模组轨迹跟踪及约束控制

《动力学与控制学报》

2025

Robust Control Under Servo Constraint Following via Nash Equilibrium Theory for Bimanual Humanoid Manipulation

IEEE transactions on fuzzy systems

DOI

2025

Robust Approximate Constraint‐Following Control Design Based on Udwadia–Kalaba Theory and Experimental Verification for Collaborative Robots With Inequality Constraints and Uncertainties

International Journal of Robust and Nonlinear Control

DOI

2025

Nash Game Based Optimal Adaptive Robust Control for Dual-Arm Coordinated Robots

International Conference on Advanced Robotics and Mechatronics

DOI

2025

Diffeomorphism-based robust control for wheel hub motor in automated guided vehicle with inequality constraints

International Journal of Control

DOI

2025

Novel robust control with disturbance rejection for permanent magnet synchronous motors and experimental validation.

Review of Scientific Instruments

DOI

2025

Dynamic Formation and Collision Avoidance Control for Differential-Wheeled Mobile Robots

International Conference on Advanced Robotics and Mechatronics

DOI

2025

Model Reconstruction-Based Optimal Adaptive Prescribed Time Control for Multi-Stage Precision Robotic Arms: Inequality Constraints, Uncertainties, Disturbances

IEEE Transactions on Automation Science and Engineering

DOI

2025

Robust control for uncertain and space confined robotic systems: Udwadia–Kalaba theory and diffeomorphism approach

Asian journal of control

DOI

2025

Robust control based on Lyapunov stability theory for the joint modules in hip-assist exoskeleton robots

Robotica

DOI

2024

基于带通滤波二阶动量观测器的机器人碰撞检测

《机械工程学报》

2024

A Novel Approach for Trajectory Tracking Control of an Under-Actuated Quad-Rotor UAV

IEEE CAA J. Autom. Sinica

DOI

2024

A Novel Trajectory Tracking Control of AGV Based on Udwadia-Kalaba Approach

IEEE CAA J. Autom. Sinica

DOI

2024

Robust approximate constraint following control design for collaborative robots system and experimental validation

Robotica (Cambridge. Print)

DOI

2024

Robust control and experimental validation of trajectory tracking for permanent magnet linear motors based on constraint-following under uncertainty

Robotica (Cambridge. Print)

DOI

2024

Adaptive Robust Control for Fuzzy Mechanical Systems in Confined Spaces: Nash Game Optimization Design

IEEE transactions on fuzzy systems

DOI

2024

Adaptive Robust Control of Robot Manipulators with Guaranteed Safety and Performance

International Conference on Advanced Robotics and Mechatronics

DOI

2024

Guaranteeing Performance Robust Control for Human-Machine Systems With Optimal Human Decision

IEEE Transactions on Cybernetics

DOI

2024

Robust Approximate Constrained Trajectory Tracking Control for Uncertain SCARA Robots System

International Conference on Advanced Robotics and Mechatronics

DOI

2024

Robust controller design and experimental validation based on bounded uncertainty for collaborative industrial robots.

Review of Scientific Instruments

DOI

2024

A High-order Robust Control Approach for Collaborative Robots with Uncertain Serial Joint Modules

International Conference on Advanced Robotics and Mechatronics

DOI

2024

Adaptive robust control of the PMSM servo system with servo and performance constraints

Journal of Vibration and Control

DOI

2024

Fixed-Time Adaptive Neural Network-Based Trajectory Tracking Control for Workspace Manipulators

Actuators

DOI

2024

Robust control algorithm designed for robotic legs of lunar-based equipment: Modeling and experiment

Advances in Space Research

DOI

2024

Predefined performance control for fuzzy robotic systems with measurement noise: Adaptation, robustness, and fuzzy optimization

Journal of the Franklin Institute

DOI

2024

Fuzzy Optimization Design of Adaptive Robust Control for Uncertain Cooperative Robots with Servo Constraints

International Journal of Fuzzy Systems

DOI

2024

Cooperative working performance of a dual-arm robot system optimised by a neural network adaptive preset control

International Journal of Sensor Networks

DOI

2024

Cooperative working performance of a dual-arm robot system optimized by a neural network adaptive preset control

International Journal of Sensor Networks

DOI

2023

Robust approximate constraint-following control design based on Udwadia–Kalaba approach and experimental validation for the joint module of cooperative robot

Nonlinear dynamics

DOI

2023

Adaptive Robust Position Control for Permanent Magnet Linear Synchronous Motor Based on Udwadia-Kalaba Theory

International Conference on Advanced Robotics and Mechatronics

DOI

2023

Model-based Robust Control of Permanent Magnet Synchronous Motor for Joint Module of Cooperative Robot

International Conference on Advanced Robotics and Mechatronics

DOI

2023

A New Practical Robust Control Design for Model-based Uncertain Collaborative Robot

International Conference on Advanced Robotics and Mechatronics

DOI

2023

Design and application of a novel approximate constraint tracking robust control for permanent magnet synchronous motor

Computers and Chemical Engineering

DOI

2023

Robust Approximate Constraint-Following Control Desigh for Two-Link Robotic Manipulator System

International Conference on Development and Learning

DOI

2023

Task-Driven-Based Robust Control Design and Fuzzy Optimization for Coordinated Robotic Arm Systems

International Journal of Fuzzy Systems

DOI

2023

Robust trajectory tracking control design for the robotic arm with uncertainty and experimental validation

Journal of Vibration and Control

DOI

2023

A Practical Model-Based Robust Control for the Modular Joint of Collaborative Robots

Journal of Intelligent and Robotic Systems

DOI

2023

Robust approximate constraint following control for SCARA robots system with uncertainty and experimental validation

Control Engineering Practice

DOI

2023

Adaptive Robust Control for Nonlinear Mechanical Systems With Inequality Constraints and Uncertainties

IEEE Transactions on Systems, Man & Cybernetics. Systems

DOI

2023

A practical robust bounded control of permanent magnet synchronous motors with inequality constraints

International Journal of Robust and Nonlinear Control

DOI

2023

A Lyapunov-based robust control for permanent magnet synchronous motor in the modular joint of collaborative robot

Robotica (Cambridge. Print)

DOI

2023

Advanced robust control design and experimental verification for trajectory tracking of model-based uncertain collaborative robots

Measurement science and technology

DOI

2023

A novel robust bounded control with inequality constraints and experimental validation for permanent magnet linear motor

Proceedings of the Institution of mechanical engineers. Part C, journal of mechanical engineering science

DOI

2023

Optimal design of Udwadia–Kalaba theory-based adaptive robust control for permanent magnet linear synchronous motor

Journal of Vibration and Control

DOI

2023

Model-based robust servo control for permanent magnet synchronous motor with inequality constraint

Measurement science and technology

DOI

2023

Prescribed Performance Adaptive Robust Control for Robotic Manipulators With Fuzzy Uncertainty

IEEE Transactions on Fuzzy Systems

DOI

2023

Cooperative-theoretic optimal adaptive robust control for fuzzy multiple manipulator systems

Journal of the Franklin Institute

DOI

2023

Novel Robust Control Strategy for the Mechanical Legs of Lunar-Based Equipment

Journal of Aerospace Engineering

DOI

2022

机械臂系统鲁棒控制轨迹跟踪

《机械设计与制造》

2022

智能平衡移动机器人 MATLAB/Simulink版·微课视频版 微课视频版

《清华大学出版社》

2022

High-Order Robust Control with Optimized Parameters for Collaborative Robots

International Conference on Advanced Robotics and Mechatronics

DOI

2022

A practical robust bounded control for permanent magnet linear motor with inequality constraints

Control Engineering Practice

DOI

2022

High-order robust control design and experiment for a class of uncertain serial manipulators

Journal of Vibration and Control

DOI

2022

Practical robust control design and experimental validation of modular jointed cooperative robots with inequality constraints

Proceedings of the Institution of mechanical engineers. Part C, journal of mechanical engineering science

DOI

2022

Fuzzy-Based Controller Synthesis and Optimization for Underactuated Mechanical Systems With Nonholonomic Servo Constraints

IEEE transactions on fuzzy systems

DOI

2022

Robust constraint-following control for permanent magnet linear motor with optimal design: A fuzzy approach

Information Sciences

DOI

2022

Model-based robust control design and experimental validation of SCARA robot system with uncertainty

Journal of Vibration and Control

DOI

2022

Fuzzy approach‐based optimal robust control for permanent magnet synchronous motor with experimental validation

Asian journal of control

DOI

2022

Model‐based robust control design and experimental validation of collaborative industrial robot system with uncertainty

Asian journal of control

DOI

2022

Constraint-following control design for the position tracking of a permanent magnet linear motor with inequality constraints

Mechanical Sciences

DOI

2022

Robust Bounded Control Design and Experimental Verification for Permanent Magnet Linear Motor With Inequality Constraints

IEEE Access

DOI

2022

A novel model-based robust control design for collaborative robot joint module

Proceedings of the Institution of mechanical engineers. Part C, journal of mechanical engineering science

DOI

2021

Optimization of PMSM Position Servo System Based on Self-anti-disturbance

International Conference on Cybernetics, Robotics and Control

DOI

2021

Control Design With Optimization for Fuzzy Steering-by-Wire System Based on Nash Game Theory

IEEE Transactions on Cybernetics

DOI

2021

Fuzzy-set theory based optimal robust constraint-following control for permanent magnet synchronous motor with uncertainties

DOI

2021

A new PD based robust control method for the robot joint module

DOI

2021

Dynamic Model Identification of Collaborative Robots Using a Three-Loop Iterative Method

International Conference on Advanced Robotics and Mechatronics

DOI

2021

Designing Robust Control for Permanent Magnet Synchronous Motor: Fuzzy Based and Multivariable Optimization Approach

IEEE Access

DOI

2021

Robust approximate constraint‐following control design for typical manipulator systems

Asian journal of control

DOI

2021

Novel Optimal Adaptive Robust Control for Fuzzy Underactuated Mechanical Systems: A Nash Game Approach

IEEE transactions on fuzzy systems

DOI

2021

Robust control design for a planar humanoid robot arm with high strength composite gear and experimental validation

DOI

2021

A new robust control strategy for axial flux permanent magnet motor applied on legged lunar robots

Journal of Vibration and Control

DOI

2021

Udwadia-Kalaba Equation Based Adaptive Robust Control for Two-wheeled Inverted Pendulum System: Underactuation and Uncertainty

International Journal of Control, Automation and Systems

DOI

2020

基于UK理论的下肢关节力矩分析方法

《应用力学学报》

2020

Lyapunov Based Robust Control for Tracking Control of Lower Limb Rehabilitation Robot with Uncertainty

DOI

2020

A Novel Model-Based Robust Control for Position Tracking of Permanent Magnet Linear Motor

IEEE transactions on industrial electronics (1982. Print)

DOI

2020

Adaptive robust control for lower limb rehabilitation robot with uncertainty based on Udwadia–Kalaba approach

Adv. Robotics

DOI

2020

TORQUE ANALYSIS OF LOWER LIMB BASED ON UDWADIA–KALABA APPROACH AND INERTIAL SENSOR MOTION DETECTION

DOI

2020

A Novel Practical Robust Control Inheriting PID for SCARA Robot

IEEE Access

DOI

2020

Robust approximate constraint-following control design for permanent magnet linear motor and experimental validation

Journal of Vibration and Control

DOI

2020

Optimal Adaptive Robust Control Based on Cooperative Game Theory for a Class of Fuzzy Underactuated Mechanical Systems

IEEE Transactions on Cybernetics

DOI

2020

Robust control design of electric helicopter tail reduction system: Fuzzy and optimal view

DOI

2019

Adaptive robust control for a lower limbs rehabilitation robot running under passive training mode

IEEE/CAA Journal of Automatica Sinica

DOI

2019

Application of the Udwadia-Kalaba approach to tracking control of lower limb rehabilitation robot

International Conference on Advanced Robotics and Mechatronics

DOI

2019

Force Ripple Modeling and Minimizing of an Ironless Permanent-Magnet Linear Synchronous Motor

International Journal of Precision Engineering and Manufacturing

DOI

2019

A novel adaptive robust control approach for underactuated mobile robot

Journal of the Franklin Institute

DOI

2019

Corrigendum to “Trajectory Tracking Control of Parallel Manipulator Based on Udwadia-Kalaba Approach”

Mathematical Problems in Engineering

DOI

2019

Robust Control for a Planar Parallel (3-PPR) Manipulator based on Udwadia-Kalaba Theory

International Conference on Advanced Robotics and Mechatronics

DOI

2019

Fuzzy-Set Theory Based Optimal Robust Design for Position Tracking Control of Permanent Magnet Linear Motor

IEEE Access

DOI

2019

Robust Precision Motion Control of Linear Motors with Dynamic Uncertain Compensation

International Conference on Advanced Robotics and Mechatronics

DOI

2019

Self-adjusting leakage type adaptive robust control design for uncertain systems with unknown bound

Mechanical systems and signal processing

DOI

2019

Adaptive Robust Control Based on Moore-Penrose Generalized Inverse for Underactuated Mechanical Systems

IEEE Access

DOI

2019

Udwadia-Kalaba Control Approach for 3-DOF Planar Parallel Manipulator

2019 1st International Conference on Industrial Artificial Intelligence (IAI)

DOI

2018

基于Udwadia-Kalaba理论的机械臂位置控制

《合肥工业大学学报(自然科学版)》

2018

A novel adaptive robust control approach for underactuated mobile robot

International Conference on Advanced Robotics and Mechatronics

DOI

2018

A New Approach for Vehicle Lateral Velocity and Yaw Rate Control with Uncertainty

DOI

2018

Linear motor driven double inverted pendulum: A novel mechanical design as a testbed for control algorithms

Simulation modelling practice and theory

DOI

2018

Two Degrees-of-Freedom Helicopters with Adaptive Robust Control for Trajectory Tracking

2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)

DOI

2018

Leakage-Type Adaptive Robust control for Nonlinear Bulldozer Link Lever System

2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)

DOI

2018

Application of the Udwadia-Kalaba Approach to Trajectory Tracking Control of Two Degrees-of-Freedom

International Conference on Advanced Robotics and Mechatronics

DOI

2018

Adaptive Robust Constraint-Following Control for Lower Limbs Rehabilitation Robot

2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)

DOI

2018

Constraints following control of snake robot by leakage-type adaptive law

International Conference on Advanced Robotics and Mechatronics

DOI

2018

A Fuzzy Approach for Optimal Robust Control Design of an Automotive Electronic Throttle System

IEEE transactions on fuzzy systems

DOI

2018

Optimal design for robust control parameter for active roll control system: a fuzzy approach

DOI

2018

Udwadia–Kalaba theory for the control of bulldozer link lever

Advances in Mechanical Engineering

DOI

2017

基于PID算法控制的电动自平衡独轮车设计

《制造业自动化》

2017

Trajectory Tracking Control of Parallel Manipulator Based on Udwadia-Kalaba Approach

DOI

2017

A novel approach for 2-degrees of freedom redundant parallel manipulator dynamics

DOI

2017

A novel approach for modeling and tracking control of a passive-wheel snake robot

DOI

2017

Dynamic analysis and tracking trajectory control of a crane

DOI

2017

Adaptive Robust Constraint-Following Control for Satellite Formation Flying with System Uncertainty

DOI

2017

Modelling and dynamic analysis of vehicles based on discrete constraints

DOI

2016

Robust Control Design of Uncertain Mechanical Systems: A Fuzzy Approach

Int. J. Uncertain. Fuzziness Knowl. Based Syst.

DOI

2015

A systematic approach for designing analytical dynamics and servo control of constrained mechanical systems

IEEE/CAA Journal of Automatica Sinica

DOI

2015

Dynamic modeling and optimal robust approximate constraint-following control of constrained mechanical systems under uncertainty: A fuzzy approach

Journal of Intelligent & Fuzzy Systems

DOI

2015

A Novel Optimal Robust Control Design of Fuzzy Mechanical Systems

IEEE transactions on fuzzy systems

DOI

2015

Theory and Application of a Novel Optimal Robust Control: A Fuzzy Approach

International Journal of Fuzzy Systems

DOI

2015

Optimal Robust Control for Rigid Serial Manipulators: A Fuzzy Approach

DOI

2015

Application of the Udwadia–Kalaba approach to tracking control of mobile robots

Nonlinear dynamics

DOI

2014

一种针对不确定机械系统的新型Lyapunov鲁棒控制方法(英文)

《自动化学报》

2014

不确定性机械系统的最优鲁棒控制设计:模糊法(英文)

《控制理论与应用》

2014

A New Lyapunov Based Robust Control for Uncertain Mechanical Systems

DOI

2014

应用Udwadia-Kalaba理论对开普勒定律的研究

《中国科学:物理学 力学 天文学》

2014

Dual-channel type active stabilizer hydraulic motor control system and control method

2013

Dynamic modeling and simulation of multi-body systems using the Udwadia-Kalaba theory

Chinese Journal of Mechanical Engineering

DOI

2022

Nonlinear Robust Control for the Mechanical Leg of Lunar-Based

Research Square

DOI