Papers
30
Total Citations
231
H-Index
9
About
Hisakazu Nakamura is a leading figure in nonlinear control theory, with a particular focus on the rigorous design of control Lyapunov functions (CLFs) and control barrier functions (CBFs) for complex robotic systems. His work masterfully bridges theoretical mathematics and practical robotics, tackling fundamental challenges in trajectory tracking, finite-time stabilization, and human-robot interaction. Nakamura’s most impactful contributions include the development of novel CLF designs for nonholonomic systems like wheeled mobile robots, and the pioneering application of homogeneous and semiconcave functions to achieve robust, finite-time control of robot manipulators. His research on CBF-based human assist control is especially notable for its direct application to safety-critical systems, such as collision avoidance for two-wheeled vehicles. With his most cited paper on trajectory tracking for wheeled mobile robots garnering 28 citations, and a cluster of highly influential works on finite-time control and barrier functions, Nakamura’s research has shaped modern approaches to safe and agile robot control. His work is essential reading for any researcher interested in the intersection of advanced Lyapunov theory, nonholonomic systems, and safety-critical control.
Research Focus
Key Achievements
Top Papers
- 1
- 2Robust Finite-time Control of Robot Manipulators25 citations · 2011
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- 5High precision control of robot manipulators via finite-time P-PI control18 citations · 2012
- 6Revived Transformation for nonlinear systems subject to state constraints15 citations · 2015
- 7Control Barrier Function Based Human Assist Control14 citations · 2019
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