R. Matsumoto
Papers
1
Total Citations
3
H-Index
1
About
R. Matsumoto is a control systems researcher whose work focuses on the nonlinear control of underactuated robotic systems, particularly two-wheeled mobile robots. His most notable contribution is the development of a novel control Lyapunov function (CLF) design method that relaxes the traditional requirement for smoothness, introducing a locally semiconcave CLF within an integrator backstepping framework. This advance, detailed in his 2015 paper "Position control of two-wheeled mobile robot via semiconcave function backstepping," addresses a fundamental challenge in stabilizing complex, nonholonomic systems with dynamics. While his citation count is modest, the theoretical significance of his work lies in expanding the applicability of backstepping to systems where conventional smooth CLFs are difficult or impossible to construct. Matsumoto’s research bridges a gap between rigorous control theory and practical robot implementation, offering a more flexible tool for engineers designing robust position controllers for mobile robots.
Research Focus
Key Achievements
Top Papers
- 1