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About

Lih-Chang Lin is a control systems and robotics researcher whose work spans several decades, with enduring contributions to the modeling and control of complex robotic systems. His research centers on three principal areas: flexible robotic manipulators, nonlinear control theory, and mobile robot dynamics. Lin's early foundational work in the late 1980s and early 1990s established rigorous mathematical frameworks for flexible robotic systems. His 1988 paper introducing a Lagrange-Euler-assumed modes formulation for flexible manipulators provided an explicit dynamics model that extended classical rigid-body approaches, earning 20 citations. Building on this, he applied differential geometric nonlinear control theory to develop external linearization and feedback linearization strategies for flexible-joint robots, work that collectively attracted nearly 40 citations across multiple publications. He further advanced robust control by incorporating H∞ and LQR methods for manipulators with both flexible joints and links. His most cited work—a 2013 study on omni-Mecanum-wheeled robots with 95 citations—demonstrates his continued relevance in modern robotics. Using Lagrange's equation and backstepping-based adaptive control via Lyapunov stability theory, he addressed real-world challenges including mass eccentricity and friction uncertainty. Lin's career reflects a sustained commitment to bridging rigorous theoretical control methods with practical robotic applications.