Selected Publications

  1. On minimum-fuel control of affine nonlinear systems, IEEE Transactions on Automatic Control, Vol. 34, 1989, pp. 767-770. (with K. Yuan and W.S. Lin)
  2. Robust nonlinear control of robotic manipulators, Journal of the Chinese Institute of Engineers, Vol. 13, 1990, pp. 189-200. (with K. Yuan and W.S. Lin)
  3. Geometric approach to nonlinear optimal control problems, International Journal of Control, Vol. 51, 1990, pp. 1409-1418. (with K. Yuan).
  4. Characterization of allowable perturbations for robust decoupling of affine nonlinear systems, International Journal of Control, Vol. 54, 1991, pp. 729-735. (with K. Yuan).
  5. Hybrid position/force tracking for a class of constrained mechanical systems, Systems and Control Letters, Vol. 17,1991, pp. 395-399; also in Proceeding of 30th IEEE Conference on Decision and Control, Brighton, U.K., December 1991.
  6. Robustness of optimal nonlinear regulators under actuator and additive perturbations, Control-Theory and Advanced Technology, Vol. 8, 1992, pp. 779-787.
  7. Modelling and frequency-shaped sliding mode control of a slewing flexible arm with large deflections, 12th IFAC World Congress, Sydney, Australia, July 1993 (with K.Yuan and T.Y. Huang).
  8. On transformation of bilinear systems to periodic linear multimodal systems, The First Chinese World Congress on Intelligent Control and Intelligent Automation, Beijing, China, August 1993.
  9. On global stability of quadratic state feedback controlled linear systems, Systems and Control Letters, Vol. 21, 1993, pp. 371-379 (with S.-L. Chen).
  10. A nonlinear programming approach to nonholonomic motion planning with obstacle avoidance, 1994 IEEE Conference on Robotics and Automation, San Diego, California, U.S.A, May 1994 (with L.-S. Wang and L.-S. Tsai).
  11. Control and state observation of periodic linear multimodal systems, International Journal of Systems Science, Vol.26, 1995, pp. 883-897 (with Y.-S. Chou).
  12. Robust tracking of uncertain robotic manipulators using high order nonlinear feedback, 4th IEEE Conference on Control Applications, Albany, NY, Sept. 1995 (with C.-C Chen, A-C. Wu and L.-C. Fu ).
  13. A neuro-fuzzy logic controller for trajectory tracking of uncertain robots," 1996 IEEE International  Conference on Robotics and Automation, Minneapolis, Minnesota, USA,,May, 1996 (with C.H.Tsai, W.S.Lin).
  14. A P-type iterative learning controller for robust output tracking of nonlinear time-varying systems,International Journal of Control, 1996, pp.319-334 (with C.J. Chien).
  15. Discrete iterative learning controller design using genetic algorithms, IFAC Conference on Control of Industrial Systems, Belfort, France, June 1997 (with S.H. Chou).
  16. A stable neuro-fuzzy controller for output tracking in composite nonlinear systems, First IEEE International Conference on Intelligent Processing Systems, Beijing, China, Dec., 1997(with C.H.Tsai, K.B.Tseng,  W.S. Lin).
  17. Robust hybrid control of constrained robot manipulators via decomposed equations, Journal of Intelligent and Robotic Systems, vol.23, no.1,1998, pp.45-70 (with S.L. Chen).
  18. An improved trajectory planner for redundant manipulators in constrained workspace, Journal of  Robotic Systems, vol.16, no. 6,1999, pp.339-351 (with T.C. Liang).
  19. On enhancing GJK algorithm for distance computation between convex polyhedra: comparisons of improvements,7th IEEE Mediterranean Conference on Control and Automation, Haifa, Israel, June 1999 (withS.P.Shiang,Y.R. Chien).
  20. Estimate of minimum distance between convex polyhedra based on enclosed ellipsoids, IEEE/RSJ International Conference on Intelligent Robots and Systems,Takamatsu,Japan, October, 2000 (with S.P. Shiang, Y.R. Chien).
  21. Fast and accurate collision detection based on enclosed ellipsoid, Robotica, vol.19, pp. 381-394, 2001.  (with Ju M. Y., Shiang S. P., Chien Y. R., Hwang K. S., and Lee W. C.).
  22. Robust neuro-fuzzy control of multivariable systems by tuning consequent membership functions, Fuzzy Sets and Systems, vol. 124, pp.181-195, 2001 (with W.S. Lin and C. H. Tsai)
  23. Real-time velocity alteration strategy for collision-free trajectory planning of two articulated robot manipulators, Journal of Intelligent and Robotic Systems , vol.33, pp.167-186, 2002 (with Ju M. Y, Hwang K. S)
  24. A recursive algorithm for on-line clustering obstacles cluttered in dynamic environments, Journal of Intelligent and Robotic Systems, vol. 33, pp. 209-230, 2002 (with J.L. Chen and W.C. Lee).
  25. Motion Controller Realizing Cyclic Ball Passing Strategy among Multiple Mobile Robots in Robot Soccer Games, 2002 IEEE International Conference on Robotics and Automation, Washington D.C., May 2002 (with T.C. Liang).
  26. Coordinated trajectory planning and formation control of soccer robots to pass a ball cyclically, Distributed and Autonomous Robotic Systems 5, Fukuoka, June 2002, Springer-Verlag(with T.C. Liang).
  27. On-line multi-criteria based collision-free posture generation of redundant manipulators in constrained workspace, Robotica, vol. 20, pp.625-636, 2002 (with J.L. Chen, W.C. Lee and T.C. Liang).
  28. Design parameters study on the stability and perception of riding comfort of the electrical motorcycles under rider leaning, Mechatronics, vol.13, pp.49-76, 2003. (with Lai HC, Lee DT, Wang LS) (also 2002 American Control Conference, Anchorage, USA)
  29. Collision detection based on inner-outer ellipsoidal approximation: some improvements, 2003 IEEE International Symposium on Computational Intelligence on Robotics and Automation, Kobe, Japan, July, 2003 (with Chien YR and Su WK).
  30. Realization of ball passing strategy in robot soccer game: a case study of integrated planning and control, Robotica , vol. 22,  pp.329-338, 2004 ( with Liang TC, Lin YA)
  31. Collision-free Path Planning for Mobile Robot Using Cubic Spiral, IEEE International Conference on Robotics and Biomimetics, Shenyang, China, August 2004 (with T.C. Liang).
  32. A Bounded-curvature shortest path generation method for car-like mobile robot using cubic spiral, IEEE International Conference on Intelligent Robots and Systems, Sendai, Japan, September- October, 2004 (with T.C. Liang).
  33. rho-Exponential Stabilization for Caplygin Systems: Simplified Controllability Condition and Examples, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005 (with T.C. Lee).
  34. Practical and Flexible Path Planning for Car-like Mobile Robot Using Maximal-curvature Cubic Spiral, Robotics and Autonomous Systems, 2005 (accepted) (with T.C. Liang, G.T. Hung, Y.Z. Chang).