Peng‐Yung Woo

Papers

Total Citations

H-Index

About

Peng-Yung Woo has made foundational contributions to the control and motion planning of nonholonomic robotic systems, particularly wheeled mobile robots. His research centers on adaptive stabilization, trajectory tracking, and time-optimal path planning under kinematic and dynamic constraints. In his most cited work, "Adaptive exponential stabilization of mobile robots with unknown constant‐input disturbance" (2001, 13 citations), Woo developed continuous time-varying adaptive controllers using Lyapunov methods and homogeneous system theory, enabling robust exponential stabilization despite unknown disturbances—a critical advance for real-world robot deployment. His 2000 paper on time-optimal path planning for a 2-DOF wheeled mobile robot (7 citations) systematically addressed both kinematic nonholonomic constraints and dynamic limitations derived via Newton–Euler methods, providing a rigorous framework for efficient motion. Further, in "Global stability analysis for some trajectory‐tracking control schemes of robotic manipulators" (2001, 3 citations), Woo unified the stability analysis of three common PD-based control schemes using a single Lyapunov function, offering clear insights into robustness and convergence trade-offs. These works collectively demonstrate Woo’s strength in bridging theoretical control design with practical robotic constraints, making his research valuable for students and engineers working on autonomous navigation and manipulation.