Huitang Chen

About

Huitang Chen is a robotics and control systems researcher whose work has made meaningful contributions to the fields of mobile robot navigation, robotic manipulator control, and adaptive control theory. His research spans two interconnected domains: motion planning for wheeled mobile robots and advanced control design for robotic manipulators. Chen's most influential contribution, his 2000 paper on time-optimal path planning for wheeled mobile robots (55 citations), addressed the challenging problem of navigating nonholonomic systems under both kinematic and dynamic constraints using Newton-Euler dynamics modeling. Complementing this, his adaptive stabilization work tackled mobile robots subject to unknown disturbances, employing Lyapunov-based time-varying controllers. In robotic manipulator control, Chen pioneered gain-scheduled Linear Parameter-Varying (LPV) H∞ control frameworks, with his 2002 paper (53 citations) demonstrating how nonlinear manipulator dynamics could be reformulated for robust, performance-guaranteed closed-loop control using Linear Matrix Inequalities. His global stability analyses of trajectory-tracking schemes (41 citations) provided rigorous theoretical foundations comparing PD-based control strategies. Across his body of work, Chen consistently bridges theoretical rigor with practical robotics applications, offering controllers that are computationally efficient, robust to uncertainty, and mathematically provable in stability — making his research a valuable reference for control engineers and robotics researchers alike.

Research Focus

Key Achievements

Top Papers

1. 1
   Time optimal path planning for a wheeled mobile robot

   55 citations · 2000
2. 2
   Gain Scheduled LPV <i>H</i>_∞ Control Based on LMI Approach for a Robotic Manipulator

   53 citations · 2002
3. 3
   Global stability analysis for some trajectory-tracking control schemes of robotic manipulators

   41 citations · 2001
4. 4
   Adaptive exponential stabilization of mobile robots with uncertainties

   15 citations · 2003
5. 5
   Adaptive exponential stabilization of mobile robots with unknown constant‐input disturbance

   13 citations · 2001
6. 6
   Polytopic gain scheduled <i>H</i>_∞ control for robotic manipulators

   11 citations · 2003
7. 7
   Robust adaptive trajectory tracking independent of models for robotic manipulators

   11 citations · 2001
8. 8
   Comparative Study of D.D. Robot Control Algorithms for Trajectory Tracking

   8 citations · 1993
9. 9
   Time optimal path planning for a wheeled mobile robot

   7 citations · 2000
10. 10
    Conservativeness-reduced design of a gain scheduled H/sub ∞/ controller for a robotic manipulator

    7 citations · 2003

Key Collaborators

Contact & Links