Papers
9
Total Citations
84
H-Index
7
About
Zhipeng Qu is a robotics and control systems researcher whose career has been defined by foundational contributions to the stability analysis and control of robot manipulators. Working across several decades, Qu has made significant advances in trajectory following, adaptive control, and robust control for both rigid-link and flexible-joint robotic systems. His early work in the 1990s established rigorous Lyapunov-based stability frameworks for classical controllers, including a notable analysis of the Desired Compensation Adaptive Law (DCAL) and Proportional Derivative (PD) controllers for robot trajectory tracking. Qu extended these foundations into learning control, developing methods that elegantly handle unmodeled dynamics while maintaining provable performance bounds. His research on rigid-link electrically driven (RLED) robots — addressing both free-space motion and constrained environments with decoupled position and force control — represents particularly impactful applied contributions, earning citations well into the 2000s. Qu's hybrid adaptive-robust controllers further demonstrated his ability to bridge theoretical rigor with practical demands. Collectively, his body of work, spanning over 80 combined citations across his most recognized papers, has provided the robotics community with durable analytical tools for achieving globally stable, reliable manipulator control under real-world uncertainties.
Research Focus
Key Achievements
Top Papers
- 1On the global uniform ultimate boundedness of a DCAL-like robot controller17 citations · 1992
- 2On the learning control of a robot manipulator15 citations · 1991
- 3Robust tracking control of rigid-link electrically-driven robots11 citations · 2005
- 4Robust Control for the Tracking of Robot Motion8 citations · 1990
- 5On the learning control of a robot manipulator8 citations · 2003
- 6
- 7Globally stable I/O robust control of flexible joints robots7 citations · 2002
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