Papers
23
Total Citations
963
H-Index
12
About
An-Chyau Huang is a distinguished control systems researcher whose work has profoundly shaped the field of adaptive control for robotic systems. His primary research areas encompass adaptive sliding control, impedance control, and the development of regressor-free control methodologies for robot manipulators, with particular emphasis on systems exhibiting joint flexibility and actuator dynamics. Huang's most significant contribution is his pioneering application of the Function Approximation Technique (FAT) to robot control, which eliminates the need for complex regressor matrix computation — a longstanding burden in conventional adaptive control design. His 2004 paper on adaptive sliding control for flexible-joint robots, which garnered 286 citations, introduced a backstepping-like framework to handle mismatched uncertainties, becoming a landmark reference in the field. His complementary work on adaptive impedance control (113 citations) further extended this philosophy to constrained manipulation tasks without requiring end-point acceleration measurements. Huang consolidated these contributions in his influential books on adaptive control of robot manipulators (2010), providing researchers with a unified, regressor-free framework applicable across rigid and flexible-joint systems alike. With cumulative citations exceeding 880, his body of work continues to guide researchers tackling uncertainty management and robust control in increasingly complex robotic platforms.
Research Focus
Key Achievements
Top Papers
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- 4Adaptive Control of Robot Manipulators104 citations · 2010
- 5Adaptive Control of Robot Manipulators: A Unified Regressor-Free Approach83 citations · 2010
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- 9Adaptive Control of Robot Manipulators21 citations · 2010
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