Dinh Ba Pham
Papers
10
Total Citations
196
H-Index
7
About
Dinh Ba Pham is a control systems and robotics researcher whose work centers on the dynamics and control of ballbot-type mobile robots — self-balancing, omnidirectional platforms that move on a single spherical wheel. His research has made substantial contributions to solving the formidable challenge of simultaneously balancing and maneuvering these inherently unstable, underactuated systems. Pham has developed and refined a range of sophisticated control strategies, including hierarchical sliding mode control, partial feedback linearization, double-loop approaches, and energy-based controllers, applied across two-dimensional, pseudo-2D, and full three-dimensional ballbot configurations. A particularly notable thread in his work is the development of ridable ballbots — human-carrying platforms that demand exceptionally robust stability guarantees. His 2018 papers on ball segway control have collectively attracted nearly 100 citations, reflecting strong community interest in his methodological innovations. More recently, his 2022 work introduced a synchronization controller combined with online system identification for improved real-world adaptability. Across more than a dozen publications spanning 2016 to 2023, Pham has established himself as a leading voice in underactuated mobile robot control, bridging rigorous nonlinear control theory with practical robotic implementations.
Research Focus
Key Achievements
Top Papers
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- 5Balancing and translation control of a ball segway that a human can ride19 citations · 2016
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- 8Design of an energy-based controller for a 2D ball segway6 citations · 2017
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