研究领域

• 智能机器人技术

  机械系统动力学与控制

论文成果 More>>

• Hao Sun，Luchuan Tu,Luwen Yang,Zicheng Zhu,Shengchao Zhen,Ye-Hwa Chen，Adaptive Robust Control for Nonlinear Mechanical Systems With Inequality Constraints and Uncertainties:IEEE Transactions on Systems, Man, and Cybernetics: Systems,2023,53(3):1761-1772.
• Hao Sun，Luwen Yang,Ye-Hwa Chen,Xinrong Zhang，Controlling tractor-semitrailer vehicles in automated highway systems: Adaptive robust and Lyapunov minimax approach:Asian Journal of Control,2021,23(6):2642-2656.
• Hao Sun，Luwen Yang,Ye-Hwa Chen,Han Zhao，Constraint-Based Control Design for Uncertain Underactuated Mechanical System: Leakage-Type Adaptation Mechanism:IEEE Transactions on Systems, Man, and Cybernetics: Systems,2021,51(12):7663-7674.
• Hao Sun，Ye-Hwa Chen,Yangshou Xiong,Han Zhao，Configuring tasks as constraints for coordinated mechanical systems: A Udwadia–Kalaba theory based adaptive robust control:Journal of the Franklin Institute,2020,357(6):3387-3418.
• Hao Sun，Ye-Hwa Chen,Kang Huang,Mingming Qiu，Controlling the differential mobile robot with system uncertainty: Constraint-following and the adaptive robust method:Journal of Vibration and Control,2019,25(6):1294-1305.

专利成果 More>>

• 一种处理状态不等式约束的线控转向系统建模控制方法发明,2024/02/20
• 一种智能背灸仪发明,ZL202110961130.1,2023/07/18
• 一种主动稳定杆系统的控制及优化设计方法发明,ZL201910764402.1,2023/04/18
• 一种欠驱动机械系统伺服约束跟踪控制器的设计方法发明,ZL201910764399.3,2022/05/06
• 一种可变胞轮足式四足机器人发明,ZL202110175079.1,2022/04/22

著作成果

• 甄圣超,孙浩,刘晓黎,智能平衡移动机器人,清华大学出版社,2023
• 赵韩,甄圣超,孙浩,吴其林,机器人控制：理论、建模与实现,高等教育出版社,2022
• 赵韩,甄圣超,孙浩,机电系统动力学控制理论—U-K动力学理论的拓展与应用,高等教育出版社,2020

科研项目

• 基于约束解析建模的轮式移动机器人轨迹跟踪最优鲁棒控制研究
• 基于模糊不确定性的汽车主动防侧倾系统约束跟随控制研究