董方方｜合肥工业大学｜学者主页

2026

Collaborative control for modular transport vehicles: dynamic mechanism and uncertainty

Xiaomin Zhao, Mengyao Li, Jiancheng Long, Fangfang Dong, Jin Huang, Ye‐Hwa Chen

International Journal of Control

DOI

2026

Adaptive robust constraint-following control for a HAUV with underactuated and segmented cross-media dynamics

Jiayue Wu, Fangfang Dong, Xiaomin Zhao, Ye‐Hwa Chen

Ocean Engineering

DOI

2026

A hierarchical Stackelberg-Nash game approach for adaptive robust control design of a fuzzy morphable quadrotor UAV system

Xiaomin Zhao, Jianmin Wu, Baotao Yuan, Fangfang Dong

Communications in Nonlinear Science and Numerical Simulation

DOI

2026

A Fuzzy-Theoretic Cooperative Game Framework for Adaptive Robust Control of Air–Ground Vehicle Systems

Xiaomin Zhao, Binhua Dang, Ye‐Hwa Chen, Fangfang Dong, Jin Huang

IEEE Transactions on Fuzzy Systems

DOI

2026

Adaptive Hybrid Force/Position Admittance Control With a Velocity-Level Correction for Robotic Grinding Contact Tasks

Fangfang Dong, Jiabao Li, Zhi Ding, Xiaomin Zhao

Journal of Mechanisms and Robotics

DOI

2025

基于Whiffletree策略与耦合振动模型的随动支撑头点位布局优化

董方方，刘钊，赵晓敏，韩江，黄晓勇

《计算力学学报》

2025

Constraint-following vibration control for robot follow-up support system under force-stiffness interdependence

Zhao Liu, Fangfang Dong, Xiaomin Zhao, Jiang Han, Ye‐Hwa Chen

Applied Mathematical Modelling

DOI

2025

Research on Servo Control of Robot Joints Considering Friction Characteristics

Fangfang Dong, Jiabao Li, Zhao Liu, Xiaomin Zhao

International Conference on Advanced Robotics and Mechatronics (ICARM)

DOI

2025

Kinematics, Dynamics and Coordiated Control for Air-Ground Multi-Agent Systems

Xiaomin Zhao, Binhua Dang, Fangfang Dong, Zhengrong Cui, Peng Wei, Ye‐Hwa Chen

International Conference on Advanced Robotics and Mechatronics (ICARM)

DOI

2025

Constraint-following control for follow-up support systems under model deviation and time delay

Fangfang Dong, Zhao Liu, Xiaomin Zhao, Jiang Hong Han, Xiaoyong Huang

ISA Transactions

DOI

2025

A composite adaptive robust control approach for ball screw feed system with mismatched uncertainty

Zhi Ding, Lei Tong, Fangfang Dong, Xiaoyong Huang, Zhao Liu

Journal of Vibration and Control

DOI

2025

Rendering compact formation and trajectory tracking for cyber unmanned ground vehicles

Xiaomin Zhao, Zhengrong Cui, Chee–Meng Chew, Fangfang Dong

Fundamental Research

DOI

2025

A Time-Optimal and Tracking-Error Controlled Motion Planning Method for Industrial Robots

Xiaoyong Huang, Junyi Sun, Baoqing Chen, Fangfang Dong, Xiaoqing Tian, Daoyang Yu, Jiang Hong Han

Lecture notes in computer science

DOI

2024

基于骨架提取的弯管类结构无支撑3D打印混合切片方法

董方方，杜爽，廖飞，钱宸，殷远洋，李晓阳

《计算机集成制造系统》

2024

Human-Machine Cooperative Control for Semi-Autonomous Vehicles: Robustness and Optimality

Xiaomin Zhao, B. Li, Ye‐Hwa Chen, Fangfang Dong

2022 IEEE 20th International Conference on Industrial Informatics (INDIN)

DOI

2024

Adaptive collision detection algorithm design for six-axis industrial manipulator with accurate payload estimation

Shan Chen, Xinfu Zhang, Heng Zhang, Haijun Liu, Fangfang Dong, Jiang Hong Han

Transactions of the Institute of Measurement and Control

DOI

2024

Constraint‐following servo control for uncertain flexible transmission system with damping

Fangfang Dong, Y. L. Hong, Zhi Jun Ding, Shan Chen, Xinrong Zhang

Asian Journal of Control

DOI

2024

Adaptive robust constraint-following control for morphing quadrotor UAV with uncertainty: A segmented modeling approach

Fangfang Dong, Baotao Yuan, Xiaomin Zhao, Zhi Jun Ding, Shan Chen

Journal of the Franklin Institute

DOI

2024

Cooperative position and orientation modeling for dual-robot mirror milling under multi-source constraints

Fangfang Dong, Zhao Liu, Xiaomin Zhao, Jiang Hong Han, Xiaoyong Huang

The International Journal of Advanced Manufacturing Technology

DOI

2023

移动机械臂的层级聚合建模方法研究

董方方，杨超，韩江，张新荣

《应用数学和力学》

2023

基于“雨课堂+翻转课堂”的教学改革与实践——以制造技术基础课程为例

丁志，唐火红，郑红梅，董方方

《轻工科技》

2023

Cooperative Control Design for Modular vehicles: Platoon Pattern and Biomimetic Group Pattern

Xiaomin Zhao, Shanghong Hu, Zhengrong Cui, Fangfang Dong

CAA International Conference on Vehicular Control and Intelligence (CVCI)

DOI

2023

An Evenly Partition Approach to the Modeling and Constraint-Following Control for the Spatial Cooperative Dual-Robot-System

Fangfang Dong, Bin Gao Yu, Xiaomin Zhao, Shan Chen, Haijun Liu

Journal of Dynamic Systems Measurement and Control

DOI

2023

Adaptive Neural Network Sliding Mode Control Method Based on Udwadia-Kalaba Theory

Runmei Zhang, Jiaxiang Li, Zhong Chen, Fangfang Dong, Zhennan Jia, Bin Yuan

International Conference on Advanced Robotics and Mechatronics (ICARM)

DOI

2022

区域产业需求导向的创新型人才培养模式研究——以安徽省机器人专业为例

何晓娅，袁彬，雷经发，吴路路，董方方

《教育教学论坛》

2022

双移动机械臂空间协作动力学建模研究

董方方，喻斌，赵晓敏，陈珊

《应用数学和力学》

2022

打磨机器人自适应鲁棒约束跟踪控制

韩江，魏光耀，董方方，夏链

《合肥工业大学学报(自然科学版)》

2022

基于Udwadia-Kalaba方法的全向移动机器人轨迹跟踪控制

董方方，金栋，赵晓敏，韩江

《合肥工业大学学报(自然科学版)》

2022

Adaptive robust force control of an underactuated walking lower limb hydraulic exoskeleton

Shan Chen, Heng Zhang, Tenghui Han, Fangfang Dong, Haijun Liu, Jiang Hong Han

Transactions of the Institute of Measurement and Control

DOI

2022

Dynamic Modeling of Spatial Cooperation of Dual Mobile Manipulators System Through Evenly Partition

Fangfang Dong, Bin Yu, Xiaomin Zhao

International Conference on Advanced Robotics and Mechatronics (ICARM)

DOI

2022

Generalized Multiphase Dynamic Modeling and Precision Interaction Force Control of a Walking Lower Limb Hydraulic Exoskeleton

Shan Chen, Muye Lu, Fangfang Dong, Haijun Liu, Xiaoqing Tian, Jiang Hong Han

Applied Bionics and Biomechanics

DOI

2021

基于Udwadia-Kalaba理论的协作机器人轨迹跟踪控制

韩江，王凡志，董方方，夏链

《组合机床与自动化加工技术》

DOI

2021

不确定电液位置伺服系统的自适应终端滑模控制

刘启龙，韩江，杨四阳，董方方，夏链

《应用数学和力学》

2021

基于Udwadia-Kalaba方法的并联机器人鲁棒伺服约束控制

韩江，汪鹏，董方方，夏链，赵晓敏

《应用数学和力学》

2021

A Leader–Follower Sequential Game Approach to Optimizing Parameters for Intelligent Vehicle Formation Control

Xiaomin Zhao, Ye‐Hwa Chen, Fangfang Dong, Bingzhan Zhang

International Journal of Fuzzy Systems

DOI

2021

Constraint-Following Servo Control for the Trajectory Tracking of Manipulator with Flexible Joints and Mismatched Uncertainty

Fangfang Dong, Bin Gao Yu, Xiaomin Zhao, Shan Chen, Haijun Liu

Machines

DOI

2021

Precision force control of an underactuated stance leg exoskeleton for human performance augmentation

Shan Chen, Tenghui Han, Fangfang Dong, Lei Lu, Haijun Liu, Xiaoqing Tian, Jiang Hong Han

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

DOI

2021

Joint-Smooth Toolpath Planning by Optimized Differential Vector for Robot Surface Machining Considering the Tool Orientation Constraints

Lei Lu, Jiang Hong Han, Fangfang Dong, Zhi Ding, Cheng Fan, Shan Chen, Haijun Liu, Hao Wang

IEEE/ASME Transactions on Mechatronics

DOI

2021

Optimal design of adaptive robust control for a planar two-DOF redundantly actuated parallel robot

Jiang Hong Han, Peng Wang, Fangfang Dong, Xiaomin Zhao, Shan Chen

Nonlinear Dynamics

DOI

2021

A non-cooperative game approach to the robust control design for a class of fuzzy dynamical systems

Fangfang Dong, Dong Jin, Xiaomin Zhao, Jiang Han, Wei Lü

ISA Transactions

DOI

2021

Precision Interaction Force Control of an Underactuated Hydraulic Stance Leg Exoskeleton Considering the Constraint from the Wearer

Shan Chen, Tenghui Han, Fangfang Dong, Lei Lu, Haijun Liu, Xiaoqing Tian, Jiang Hong Han

Machines

DOI

2021

Adaptive Robust Force Control of an Underactuated Stance Leg Exoskeleton for Human Performance Augmentation

Shan Chen, Tenghui Han, Fangfang Dong, Jiang Hong Han, Lei Lu, Haijun Liu

IEEE International Conference on Mechatronics (ICM)

DOI

2021

Adaptive Robust Constraint Following Control for Omnidirectional Mobile Robot: An Indirect Approach

Fangfang Dong, Dong Jin, Xiaomin Zhao, Jiang Hong Han

IEEE Access

DOI

2020

基于Udwadia-Kalaba方法的平面冗余并联机器人建模与轨迹跟踪控制

韩江，汪鹏，董方方，夏链，陈珊，卢磊

《应用数学和力学》

2020

基于Udwadia-Kalaba方法的柔性机械臂鲁棒伺服约束控制

韩江，张凯，董方方

《合肥工业大学学报(自然科学版)》

2020

Detection and visualization of chatter in gear hobbing based on combination of time and frequency domain analysis

Xiaoqing Tian, Ruofeng Chen, Hong Chuan Jiang, Fangfang Dong, Lei Lu, Jiang Hong Han, Lian Xia

The International Journal of Advanced Manufacturing Technology

DOI

2020

Optimal Longitudinal Control for Vehicular Platoon Systems: Adaptiveness, Determinacy, and Fuzzy

Fangfang Dong, Xiaomin Zhao, Ye‐Hwa Chen

IEEE Transactions on Fuzzy Systems

DOI

2020

An exponential type control design for autonomous vehicle platoon systems

Xiaomin Zhao, Jinxin Ju, Fangfang Dong, Ye‐Hwa Chen, Liang Zhang, Bingzhan Zhang

Asian Journal of Control

DOI

2019

Optimal Design of Adaptive Robust Control for Fuzzy Swarm Robot Systems

Fangfang Dong, Ye‐Hwa Chen, Xiaomin Zhao

International Journal of Fuzzy Systems

DOI

2018

Udwadia–Kalaba Equation for Constrained Mechanical Systems: Formulation and Applications

Xiaomin Zhao, Ye‐Hwa Chen, Han Zhao, Fangfang Dong

Chinese Journal of Mechanical Engineering

DOI

2018

Controlling Uncertain Swarm Mechanical Systems: A $\beta$-Measure-Based Approach

Xiaomin Zhao, Ye‐Hwa Chen, Fangfang Dong, Han Zhao

IEEE Transactions on Fuzzy Systems

DOI

2018

Optimal fuzzy adaptive control for uncertain flexible joint manipulator based on D ‐operation

Fangfang Dong, Xiaomin Zhao, Jiang Han, Ye‐Hwa Chen

IET Control Theory and Applications

DOI

2017

Control Design for Artificial Swarm Mechanical Systems: Dynamics, Uncertainty, and Constraint

Xiaomin Zhao, Ye‐Hwa Chen, Han Zhao, Fangfang Dong

Asian Journal of Control

DOI

2017

A Novel Robust Constraint Force Servo Control for Under‐actuated Manipulator Systems: Fuzzy and Optimal

Fangfang Dong, Jiang Han, Ye‐Hwa Chen, Lian Xia

Asian Journal of Control

DOI

2017

Collision avoidance adaptive robust control for autonomous vehicles: Motivated by swarm properties

Xiaomin Zhao, Han Zhao, Ye‐Hwa Chen, Fangfang Dong

Chinese Control and Decision Conference (CCDC)

DOI

2017

Optimal design for robust control of uncertain flexible joint manipulators: a fuzzy dynamical system approach

Jiang Han, Ye‐Hwa Chen, Xiaomin Zhao, Fangfang Dong

International Journal of Control

DOI

2015

Improved robust control for multi-link flexible manipulator with mismatched uncertainties

Fangfang Dong, Jiang Han, Ye‐Hwa Chen

International Conference on Fluid Power and Mechatronics

DOI

2013

软PLC梯形图向指令表转化的算法研究与实现

韩江，段少磊，夏链，董方方

《组合机床与自动化加工技术》

精选作品

期刊论文

Collaborative control for modular transport vehicles: dynamic mechanism and uncertainty

Adaptive robust constraint-following control for a HAUV with underactuated and segmented cross-media dynamics

A hierarchical Stackelberg-Nash game approach for adaptive robust control design of a fuzzy morphable quadrotor UAV system

A Fuzzy-Theoretic Cooperative Game Framework for Adaptive Robust Control of Air–Ground Vehicle Systems

Adaptive Hybrid Force/Position Admittance Control With a Velocity-Level Correction for Robotic Grinding Contact Tasks

基于Whiffletree策略与耦合振动模型的随动支撑头点位布局优化

Constraint-following vibration control for robot follow-up support system under force-stiffness interdependence

Research on Servo Control of Robot Joints Considering Friction Characteristics

Kinematics, Dynamics and Coordiated Control for Air-Ground Multi-Agent Systems

Constraint-following control for follow-up support systems under model deviation and time delay

A composite adaptive robust control approach for ball screw feed system with mismatched uncertainty

Rendering compact formation and trajectory tracking for cyber unmanned ground vehicles

A Time-Optimal and Tracking-Error Controlled Motion Planning Method for Industrial Robots

基于骨架提取的弯管类结构无支撑3D打印混合切片方法

Human-Machine Cooperative Control for Semi-Autonomous Vehicles: Robustness and Optimality

Adaptive collision detection algorithm design for six-axis industrial manipulator with accurate payload estimation

Constraint‐following servo control for uncertain flexible transmission system with damping

Adaptive robust constraint-following control for morphing quadrotor UAV with uncertainty: A segmented modeling approach

Cooperative position and orientation modeling for dual-robot mirror milling under multi-source constraints

移动机械臂的层级聚合建模方法研究

基于“雨课堂+翻转课堂”的教学改革与实践——以制造技术基础课程为例

Cooperative Control Design for Modular vehicles: Platoon Pattern and Biomimetic Group Pattern

An Evenly Partition Approach to the Modeling and Constraint-Following Control for the Spatial Cooperative Dual-Robot-System

Adaptive Neural Network Sliding Mode Control Method Based on Udwadia-Kalaba Theory

区域产业需求导向的创新型人才培养模式研究——以安徽省机器人专业为例

双移动机械臂空间协作动力学建模研究

打磨机器人自适应鲁棒约束跟踪控制

基于Udwadia-Kalaba方法的全向移动机器人轨迹跟踪控制

Adaptive robust force control of an underactuated walking lower limb hydraulic exoskeleton

Dynamic Modeling of Spatial Cooperation of Dual Mobile Manipulators System Through Evenly Partition

Generalized Multiphase Dynamic Modeling and Precision Interaction Force Control of a Walking Lower Limb Hydraulic Exoskeleton

基于Udwadia-Kalaba理论的协作机器人轨迹跟踪控制

不确定电液位置伺服系统的自适应终端滑模控制

基于Udwadia-Kalaba方法的并联机器人鲁棒伺服约束控制

A Leader–Follower Sequential Game Approach to Optimizing Parameters for Intelligent Vehicle Formation Control

Constraint-Following Servo Control for the Trajectory Tracking of Manipulator with Flexible Joints and Mismatched Uncertainty

Precision force control of an underactuated stance leg exoskeleton for human performance augmentation

Joint-Smooth Toolpath Planning by Optimized Differential Vector for Robot Surface Machining Considering the Tool Orientation Constraints

Optimal design of adaptive robust control for a planar two-DOF redundantly actuated parallel robot

A non-cooperative game approach to the robust control design for a class of fuzzy dynamical systems

Precision Interaction Force Control of an Underactuated Hydraulic Stance Leg Exoskeleton Considering the Constraint from the Wearer

Adaptive Robust Force Control of an Underactuated Stance Leg Exoskeleton for Human Performance Augmentation

Adaptive Robust Constraint Following Control for Omnidirectional Mobile Robot: An Indirect Approach

基于Udwadia-Kalaba方法的平面冗余并联机器人建模与轨迹跟踪控制

基于Udwadia-Kalaba方法的柔性机械臂鲁棒伺服约束控制

Detection and visualization of chatter in gear hobbing based on combination of time and frequency domain analysis

Optimal Longitudinal Control for Vehicular Platoon Systems: Adaptiveness, Determinacy, and Fuzzy

An exponential type control design for autonomous vehicle platoon systems

Optimal Design of Adaptive Robust Control for Fuzzy Swarm Robot Systems

Udwadia–Kalaba Equation for Constrained Mechanical Systems: Formulation and Applications

Controlling Uncertain Swarm Mechanical Systems: A $\beta$-Measure-Based Approach

Optimal fuzzy adaptive control for uncertain flexible joint manipulator based on D ‐operation

Control Design for Artificial Swarm Mechanical Systems: Dynamics, Uncertainty, and Constraint

A Novel Robust Constraint Force Servo Control for Under‐actuated Manipulator Systems: Fuzzy and Optimal

Collision avoidance adaptive robust control for autonomous vehicles: Motivated by swarm properties

Optimal design for robust control of uncertain flexible joint manipulators: a fuzzy dynamical system approach

Improved robust control for multi-link flexible manipulator with mismatched uncertainties

软PLC梯形图向指令表转化的算法研究与实现

书籍章节

Adaptive Robust Control and Fuzzy-Based Optimization for Flexible Serial Robot

研究方向