Chengying Yang

Papers

Total Citations

H-Index

About

Chengying Yang’s research centers on nonlinear control systems, robotics, and automation, with a particular emphasis on enhancing the performance and stability of robotic manipulators. Their most notable contribution is the development of a Nonlinear Proportional-Derivative (NPD) controller with gravity compensation, introduced in a 2014 paper that has garnered 9 citations. This work addresses a critical challenge in robotics: achieving precise, stable motion control under varying dynamic conditions. By designing proportional and derivative gains that adapt nonlinearly based on error magnitudes, Yang’s approach improves transient response and disturbance rejection compared to conventional linear PD controllers. The closed-loop stability analysis provided in this study offers a rigorous foundation for practical implementation in industrial and service robots. While the citation count reflects focused impact within the control systems community, the work’s significance lies in its potential to advance adaptive control strategies for complex robotic tasks. Yang’s research continues to influence the development of more robust and efficient control architectures, making it a valuable reference for students and engineers exploring nonlinear control applications in robotics.