Papers
14
Total Citations
390
H-Index
6
About
Cheng Su is a robotics and control systems researcher whose work spans robust control theory, robot manipulator dynamics, and multi-robot coordination. Rising to prominence in the early 1990s, Su made foundational contributions to sliding mode control — a powerful technique for handling uncertainty and disturbances in robotic systems. His most influential work, "A Sliding Mode Controller with Bound Estimation for Robot Manipulators" (1993, 140 citations), introduced an adaptive regressor-based framework that elegantly estimates unknown parameter bounds, enabling precise trajectory control without full system knowledge. This was complemented by his force/motion control formulation for constrained robots (1992, 98 citations), which advanced how robots interact with physical surfaces under specified constraint forces. Su's 1993 real-time implementation paper (57 citations) demonstrated the practical viability of regressor-based variable-structure control, bridging theory and hardware deployment. He continued extending these ideas into the 2000s, developing observer-based robust controllers for electrically driven manipulators and generalized adaptive sliding manifold designs. More recently, Su has pivoted toward multi-robot collaborative systems, investigating workspace analysis for floating and rolling-base towing platforms. Across three decades, his cumulative contributions reflect a sustained commitment to making robotic systems more reliable, adaptive, and practically deployable.
Research Focus
Key Achievements
Top Papers
- 1A sliding mode controller with bound estimation for robot manipulators140 citations · 1993
- 2Force/motion control of constrained robots using sliding mode98 citations · 1992
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- 7Workspace Analysis of a Floating Multi-Robot Coordinated Lifting System6 citations · 2024
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