Salvador Tavera-Mosqueda
Instituto Politécnico Nacional, Polytechnic University of Puerto Rico
Papers
5
Total Citations
140
H-Index
5
About
Salvador Tavera-Mosqueda is a control systems researcher whose work centers on the motion control of wheeled mobile robots (WMRs), with particular expertise in hierarchical control architectures, trajectory tracking, and the integration of power electronics into robotic systems. His most influential contribution, "Robust Switched Tracking Control for Wheeled Mobile Robots Considering the Actuators and Drivers" (2018, 75 citations), introduced a hierarchical switched controller that holistically addresses the dynamics of a differential drive WMR's mechanical structure, DC motor actuators, and DC/DC Buck power converters — a level of system-wide rigor rarely seen in prior mobile robotics literature. This integrative philosophy carried through his 2017 experimental implementation (31 citations), which demonstrated real-world viability of a three-level control strategy. His subsequent work refined these ideas through dynamic controllers and inverter-based power stages, progressively expanding the complexity and realism of modeled subsystems. Most recently, his 2025 paper broke new ground by tackling bidirectional trajectory tracking in solar-powered WMRs, incorporating renewable energy sources into the control framework. With over 140 cumulative citations, Tavera-Mosqueda's research represents a sustained and impactful effort to bridge robotics, control theory, and power electronics into unified, experimentally validated solutions.
Research Focus
Key Achievements
Top Papers
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