Yury Stepanenko

About

Yury Stepanenko is a distinguished researcher in robotics and control systems, whose career has been defined by pioneering contributions to the robust and adaptive control of robotic manipulators. Working primarily through the 1990s, he tackled some of the field's most challenging problems, including controlling robots under significant parametric uncertainty, without full sensor feedback, and in the presence of complex actuator dynamics. Among his most influential contributions is his work on variable structure control with nonlinear and PID-based sliding manifolds, demonstrating that moving beyond conventional linear sliding surfaces yields superior performance characteristics — a finding that has shaped modern sliding mode controller design and accumulated nearly 80 citations. His 1992 paper on robust adaptive control under unbounded, fast-varying uncertainties (61 citations) and his 1993 work on composite adaptive control of flexible joint robots (59 citations) further cemented his reputation as a leading voice in adaptive systems theory. Stepanenko also advanced the integration of actuator dynamics into control frameworks, addressing a gap that earlier methods overlooked, and explored backstepping techniques for electrically driven manipulators. With over 430 cumulative citations across his key works, his research remains a foundational reference for engineers and researchers designing reliable, high-performance robotic control systems.

Research Focus

Key Achievements

Top Papers

1. 1
   Variable structure control of robotic manipulator with PID sliding surfaces

   79 citations · 1998
2. 2
   Robust adaptive control of a class of nonlinear mechanical systems with unbounded and fast-varying uncertainties

   61 citations · 1992
3. 3
   Composite adaptive control of flexible joint robots

   59 citations · 1993
4. 4
   Robust control of robotic manipulators without velocity feedback

   49 citations · 1991
5. 5
   BACKSTEPPING-BASED HYBRID ADAPTIVE CONTROL OF ROBOT MANIPULATORS INCORPORATING ACTUATOR DYNAMICS

   47 citations · 1997
6. 6
   Variable structure control of robot manipulators with nonlinear sliding manifolds

   46 citations · 1993
7. 7
   Combined adaptive and variable structure control for constrained robots

   35 citations · 1995
8. 8
   Adaptive sliding mode control of robot manipulators: General sliding manifold case

   27 citations · 1994
9. 9
   On the robust control of robot manipulators including actuator dynamics

   21 citations · 1996
10. 10
    On the robust control of robot manipulators including actuator dynamics

    14 citations · 1996

Key Collaborators

Contact & Links