Sophan Wahyudi Nawawi
Papers
13
Total Citations
220
H-Index
6
About
Sophan Wahyudi Nawawi is a leading authority in the field of mobile robotics, with a primary focus on the modeling, control, and navigation of two-wheeled inverted pendulum (TWIP) mobile robots—commonly known as balancing robots. His foundational work, beginning with the 2008 paper "Real-Time Control Of A Two-Wheeled Inverted Pendulum Mobile Robot" (68 citations), established key hardware design principles for these inherently unstable, under-actuated systems. Nawawi’s major contributions span the full spectrum of TWIP development, from dynamic modeling using Kane’s and Newton-Euler methods to advanced controller design. He pioneered the application of robust control strategies, including proportional-integral sliding mode control (PISMC) and Takagi-Sugeno fuzzy modeling, to achieve stable real-time operation. His work on multi-input single-output (MISO) closed-loop system identification further refined practical implementation. With over 200 total citations across his most-cited works, Nawawi’s research has provided a critical foundation for modern balancing robot development, influencing applications from personal transporters to autonomous mobile platforms. His recent work on pure pursuit navigation demonstrates an ongoing commitment to advancing robot autonomy.
Research Focus
Key Achievements
Top Papers
- 1Real-Time Control Of A Two-Wheeled Inverted Pendulum Mobile Robot68 citations · 2008
- 2Development of a Two-Wheeled Inverted Pendulum Mobile Robot39 citations · 2007
- 3Dynamic Modeling and Analysis of a Two-Wheeled Inverted Pendulum Robot26 citations · 2011
- 4Controller Design for Two-wheels Inverted Pendulum Mobile Robot Using PISMC25 citations · 2006
- 5Takagi-Sugeno fuzzy modeling of a two-wheeled inverted pendulum robot20 citations · 2013
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