Lucas Pupek

Papers

Total Citations

H-Index

About

Lucas Pupek is a control systems researcher whose work focuses on the challenging dynamics of underactuated, nonlinear robotic platforms. His most cited paper, "Velocity and position trajectory tracking through sliding mode control of two-wheeled self-balancing mobile robot" (2018, 8 citations), addresses the notoriously difficult problem of stabilizing and controlling two-wheeled self-balancing mobile robots—systems characterized by unstable, non-minimum phase dynamics that react violently to conventional control inputs. Pupek’s key contribution lies in applying sliding mode control to achieve robust velocity and position trajectory tracking despite these inherent instabilities. His research demonstrates how advanced nonlinear control techniques can tame erratic system behavior, enabling precise motion control for a class of robots with applications in personal transportation, service robotics, and agile mobile platforms. While his citation count reflects a focused, emerging body of work, Pupek’s findings offer practical insights for researchers tackling similar underactuated control challenges, bridging the gap between theoretical robustness and real-world implementation in unstable robotic systems.