Xiaohan Li
Papers
6
Total Citations
317
H-Index
4
About
Xiaohan Li is a leading researcher in advanced control systems for mobile robotics, with a focus on friction compensation, disturbance rejection, and model-free control strategies. Their major contributions center on the development of extended state observer (ESO)-based sliding mode control and adaptive model predictive control (MPC) for omnidirectional mobile robots and autonomous underwater vehicles. Li’s most cited work, “Extended State Observer-Based Sliding Mode Control of an Omnidirectional Mobile Robot With Friction Compensation” (2019, 231 citations), introduces a practical, reduced-order ESO scheme that eliminates the need for a friction model while requiring only three tunable parameters—a breakthrough for real-world implementation. This work, along with subsequent papers on adaptive MPC and robust friction compensation, has significantly advanced trajectory tracking and path following in uncertain environments. Li has also extended these techniques to snake robots, exploring data-driven MPC and simultaneous gait generation for path following. With over 300 total citations and a consistent focus on bridging theoretical rigor with practical deployability, Li’s research is essential reading for engineers and roboticists working on autonomous, friction-affected systems.
Research Focus
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Top Papers
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