Yufeng Zhuang

Beijing University of Posts and Telecommunications

Papers

Total Citations

H-Index

About

Yufeng Zhuang is a leading researcher in the field of robotic dynamics and control, with a primary focus on the modeling and stabilization of nonholonomic systems, particularly bicycle and two-wheeled self-balancing robots. His foundational work, "Design of linear quadratic optimal controller for bicycle robot" (2009), which has garnered 15 citations, introduced a linearized dynamic model for high-speed bicycle robots, enabling the application of linear quadratic optimal control for stable, high-velocity balancing—a critical step toward practical autonomous two-wheeled vehicles. Expanding on this, his 2014 paper on two-wheeled self-balancing robots (10 citations) employed the Lagrange equation and partial feedback linearization to derive a precise dynamic model, advancing controller design for inherently unstable platforms. Most recently, in 2024, Zhuang has broken new ground by integrating control Lyapunov functions with control barrier functions to ensure safe circular motion for bicycle robots, a contribution that addresses both stability and safety constraints—a vital achievement for real-world deployment. With a career spanning over a decade, Zhuang’s work has consistently bridged theoretical control theory and practical robotic applications, making him a key figure in the evolution of agile, self-balancing robotic systems.