Swadexi Istiqphara
Papers
4
Total Citations
21
H-Index
3
About
Swadexi Istiqphara is a robotics researcher specializing in the control and dynamic modeling of robotic manipulators and omnidirectional mobile robots. Their work addresses critical challenges in robot performance, particularly under uncertainty, parameter variation, and mechanical imperfections. Istiqphara’s most-cited paper, “Control of Two-Link Robot Manipulator with Uncertainty Parameter using Self-Tuning Sliding Mode Control” (2020, 9 citations), introduces an adaptive control strategy that maintains precise joint tracking despite dynamic uncertainties—a key issue in real-world robotic applications. They have further advanced the field by pioneering data-driven approaches for robotic system identification, as demonstrated in their 2024 papers on equation discovery using LASSO model selection criteria (7 and 2 citations). These works enable accurate modeling of complex dynamics, including backlash and friction in industrial manipulators like the KUKA 6-DoF robot, without relying on traditional physics-based derivations. Additionally, Istiqphara has contributed to mobile robotics through research on pole placement and PID control for three-wheeled omnidirectional robots (2023, 3 citations). Their work bridges theoretical control methods with practical implementation, offering robust solutions for uncertain and nonlinear robotic systems.
Research Focus
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Top Papers
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