Papers
10
Total Citations
823
H-Index
6
About
Lepeng Chen is a robotics and control systems researcher whose work spans underwater robot control, legged locomotion, and multi-agent systems. He is best known for his landmark 2017 paper introducing an Extended State Observer-Based Integral Sliding Mode Controller (ISMC) for underwater robots — a groundbreaking contribution that elegantly addressed the longstanding challenges of unmeasured velocities, unknown disturbances, and uncertain hydrodynamic nonlinearities in a unified MIMO framework. This work has accumulated over 550 citations, establishing Chen as a leading voice in robust underwater robot control. Building on this foundation, Chen has developed a distinctive research program centered on hybrid underwater hexapod robots — innovative platforms combining C-shaped legs and thrusters — tackling complex problems including wall climbing, terrain-adaptive locomotion, slip regulation, and energy-based control on deformable surfaces. His more recent work incorporates deep reinforcement learning and central pattern generator (CPG)-based motion planning, reflecting a forward-looking methodological breadth. Chen has also contributed to multi-agent systems and moving target defense protocols. With a cumulative citation profile exceeding 800 across a decade of publishing, his research offers both rigorous theoretical foundations and compelling real-world applications for underwater infrastructure inspection and maintenance.
Research Focus
Key Achievements
Top Papers
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