Papers
20
Total Citations
96
H-Index
6
About
Yuan Song is a robotics researcher whose work focuses on the dynamics, control, and mechanical design of unconventional mobile robots and robotic transmissions. His primary research areas include nonlinear control theory, sliding mode control, and the modeling of underactuated systems, with a particular emphasis on self-balancing and single- or two-wheeled robots. Song’s major contributions include the development of dynamic models for two-wheeled self-balancing robots, unicycle robots, and bicycle robots using Appell and Lagrange equations, alongside the design of sliding mode controllers for trajectory tracking and stabilization. His work on chattering reduction in sliding mode control and the application of reinforcement learning to self-balancing bicycle robots represents a notable advance in adaptive control for complex robotic systems. With over 70 citations across his most-cited papers, including 16 citations for his foundational work on two-wheeled robot control, Song has demonstrated sustained impact. He has also contributed to mechanical design, developing pure rolling cycloid-like reducers for industrial robots and optimizing gear reducers using genetic algorithms. His recent integration of control Lyapunov functions and control barrier functions for safe robot motion highlights his ongoing commitment to safety-critical robotics.
Research Focus
Key Achievements
Top Papers
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- 3Design of the sliding mode controller for a kind of unicycle robot8 citations · 2016
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- 5Research on pure rolling cycloid-like reducers used in industrial robot6 citations · 2014
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- 7Dynamic modeling and adaptive controller design for a wire-moving robot5 citations · 2015
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