Xinhu Mo

Beijing University of Posts and Telecommunications

Papers

Total Citations

H-Index

About

Xinhu Mo is a robotics researcher specializing in the dynamic modeling and control of under-actuated, non-minimum phase systems, with a particular focus on wire-moving robots. Mo’s major contributions lie in developing sophisticated control strategies to achieve self-balancing in these inherently unstable systems. By applying advanced analytical frameworks, including Appell Equations and the Routh method, Mo has built accurate nonlinear dynamic models for wire-walking robots. To solve the challenging balance control problem, Mo pioneered the use of cascade sliding mode controllers and sliding mode controllers based on Hurwitz stability, ensuring robust performance. While the citation counts for these foundational works (ranging from 2 to 5 citations) reflect a niche but growing area of research, Mo’s work is notable for its rigorous theoretical approach to a classic robotics challenge. The use of MATLAB simulations to validate these controllers demonstrates a commitment to bridging theory and practice. Mo’s research offers a valuable case study in applying nonlinear control theory to real-world robotic systems, providing a strong foundation for future work in agile, high-wire robotics and other under-actuated mechanisms.