Ubirajara F. Moreno
Papers
21
Total Citations
176
H-Index
8
About
Ubirajara F. Moreno is a Brazilian robotics and control systems researcher whose work centers on mobile robot control, sliding mode theory, and kinematic modeling. He is best known for his sustained contributions to trajectory tracking control of nonholonomic wheeled mobile robots, a technically demanding problem complicated by kinematic disturbances, parametric uncertainties, and real-world implementation constraints. His most influential work introduces variable structure controllers based on sliding mode theory, earning 22 citations, with subsequent research refining these methods through Super-Twisting and PD-Super-Twisting second-order sliding mode approaches that deliver improved robustness and reduced chattering. Moreno has also made notable contributions to robot kinematics, developing singularity-free inverse kinematics formulations using dual quaternions and the Davies method — elegant mathematical tools that address longstanding challenges in mechanism mobility near singular configurations. His research extends into friction compensation for flexible-joint robots, trajectory optimization with collision avoidance using sequential convex programming, and the design of ad hoc networked multi-robot systems. With over 130 cumulative citations across his top works, Moreno's research bridges rigorous theoretical control design with practical experimental validation, making his publications particularly valuable for graduate students and engineers working in autonomous robotics.
Research Focus
Key Achievements
Top Papers
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