Ho‐Hoon Lee

About

Ho-Hoon Lee has made pioneering contributions to the control and modeling of robotic systems, with a particular focus on flexible-link robots, multi-robot formation control, and nonholonomic mobile robots. His most influential work, "Decentralized formation control and obstacle avoidance for multiple robots with nonholonomic constraints" (65 citations), introduced a novel multi-objective potential force approach that enables groups of mobile robots to maintain formation while autonomously avoiding obstacles. Lee’s research fundamentally advanced the understanding of flexible-link robot dynamics, showing that conventional Lagrangian modeling fails to capture the bending mechanism of flexible links, leading to new distributed-parameter dynamic models that eliminate spillover instability in trajectory control. His coupled sliding-surface method for flexible-link robots, based on energy dynamics, represents a significant theoretical contribution to the field. Lee has also developed innovative models for overhead cranes, forklift-like wheeled robots, and rigid/flexible hybrid manipulators, demonstrating the breadth of his expertise. His work on leader-following formation control explicitly accounts for nonholonomic constraints, moving beyond simplified point-mass assumptions. With over 160 total citations across his publications, Lee’s research continues to influence the design of robust, adaptive control systems for complex robotic platforms.

Research Focus

Key Achievements

Top Papers

1. 1
   Decentralized formation control and obstacle avoidance for multiple robots with nonholonomic constraints

   65 citations · 2006
2. 2
   New Dynamic Modeling of Flexible-Link Robots

   31 citations · 2003
3. 3
   A new trajectory control of a flexible-link robot based on a distributed-parameter dynamic model

   23 citations · 2004
4. 4
   A coupled sliding-surface approach for the trajectory control of a flexible-link robot based on a distributed dynamic model

   16 citations · 2005
5. 5
   Modeling and Control of a 2-Dimensional Overhead Crane

   13 citations · 1997
6. 6
   Design of a robust adaptive control law for robotic manipulators

   4 citations · 1994
7. 7
   Avoidance of Multiple Obstacles for a Mobile Robot With Nonholonomic Constraints

   3 citations · 2005
8. 8
   Modeling and Trajectory Control of a Forklift-Like Wheeled Robot

   2 citations · 2014
9. 9
   Modeling and Control of a Horizontal Two-Link Rigid/Flexible Robot

   2 citations · 2005
10. 10
    A Leader-Following Formation Control of a Group of Mobile Robots

    2 citations · 2011

Key Collaborators

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