Y. Stepanenko

About

Y. Stepanenko is a prominent researcher in robotics and control systems, whose work has profoundly shaped the fields of motion control, trajectory planning, and adaptive control for robotic manipulators. With a career spanning several decades, Stepanenko has made seminal contributions to variable structure control, adaptive robust control, and dynamic programming-based optimization for robotic systems. Among his most influential contributions is the development of iterative dynamic programming for minimum energy trajectory planning (2002, 103 citations), offering a computationally efficient framework for optimizing robotic motion. His work on adaptive variable structure control of underactuated robots (1999, 77 citations) established globally asymptotically stable control schemes for a challenging and practically significant class of mechanical systems. Earlier foundational work on regressor-based sliding mode control (1993, 57 citations) provided real-time implementable solutions for robust trajectory tracking under uncertainty. Stepanenko also advanced the understanding of electrically-driven manipulators through hybrid adaptive/robust control designs and extended these frameworks to multi-arm cooperative robotic systems. His early investigation into vibro-impact analysis of mechanical clearance in robotic actuators (1986) demonstrated a long-standing commitment to understanding real-world hardware limitations. Collectively, his publications have accumulated over 440 citations, underscoring his lasting influence on modern robotics control theory and practice.

Research Focus

Key Achievements

Top Papers

1. 1
   Iterative dynamic programming: an approach to minimum energy trajectory planning for robotic manipulators

   103 citations · 2002
2. 2
   Adaptive variable structure set-point control of underactuated robots

   77 citations · 1999
3. 3
   Real-time implementation of regressor-based sliding mode control algorithm for robotic manipulators

   57 citations · 1993
4. 4
   Hybrid adaptive/robust motion control of rigid-link electrically-driven robot manipulators

   46 citations · 1995
5. 5
   Adaptive sliding mode coordinated control of multiple robot arms attached to a constrained object

   42 citations · 1995
6. 6
   Redesign of hybrid adaptive/robust motion control of rigid-link electrically-driven robot manipulators

   42 citations · 1998
7. 7
   Adaptive motion control of rigid-link electrically-driven robot manipulators

   32 citations · 2002
8. 8
   Vibro-Impact Analysis of Control Systems With Mechanical Clearance and Its Application to Robotic Actuators

   24 citations · 1986
9. 9
   Hybrid integrator backstepping control of robotic manipulators driven by brushless DC motors

   13 citations · 1996
10. 10
    Adaptive control for constrained robots without using regressor

    11 citations · 2002

Key Collaborators

Contact & Links