Papers
9
Total Citations
72
H-Index
5
About
Degang Chen is a robotics and control systems researcher whose work has made meaningful contributions to the fields of flexible manipulator control, mobile robotics, and space robotics. He is best known for pioneering applications of stable inversion theory to nonminimum phase nonlinear systems, particularly in solving the notoriously difficult problem of tip trajectory tracking for flexible robot manipulators. His landmark 1998 paper, "Tip Trajectory Tracking for Multilink Flexible Manipulators Using Stable Inversion," garnered 27 citations and demonstrated how numerical stable inversion techniques could achieve precise end-effector control in systems prone to unbounded internal dynamics. Chen extended this framework across multiple platforms, including flexible-joint robots, flexible space robots, and optimal motion planning for orbital mechanisms. His research on nonholonomic mobile robots further showcased his breadth, addressing point-to-point stabilization challenges using nonlinear oscillator-based feedback strategies. Earlier work on under-actuated space mechanisms highlighted his long-standing interest in lightweight, energy-efficient automation for space applications. Collectively, his publications reflect a career dedicated to bridging advanced nonlinear control theory with practical robotic systems, offering foundational tools that continue to inform researchers working on underactuated and flexible robotic platforms.
Research Focus
Key Achievements
Top Papers
- 1
- 2Exact and stable tip trajectory tracking for multi-link flexible manipulator11 citations · 2002
- 3Optimal motion planning for flexible space robots10 citations · 2002
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- 7Stabilization of Free-Flying Under-Actuated Mechanisms in Space2 citations · 1992
- 8Tip trajectory tracking of a flexible-joint robot using stable inversion2 citations · 1997
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