Yutong Ding
Papers
5
Total Citations
82
H-Index
4
About
Yutong Ding is a control systems researcher whose work centers on advanced disturbance rejection techniques for robotic systems, with a particular focus on omnidirectional mobile robots (OMRs). His major contributions lie in the development and refinement of Active Disturbance Rejection Control (ADRC) and Extended State Observer (ESO) frameworks, which he has creatively adapted to exploit the natural dynamics of Euler–Lagrange systems. Notably, his 2020 paper on ADRC for such systems, which has garnered 32 citations, introduces a method that leverages internal damping rather than forcing the system into a simplified double-integral form—a departure from conventional ADRC philosophy. Ding’s practical impact is evident in his work on friction compensation for OMR tracking control, where he proposed a robust, model-free ESO scheme requiring only three tunable parameters (cited 14 times). He has also integrated passivity-based control with ADRC, as seen in his 2018 and 2019 studies, to enhance trajectory tracking by using just a single geometrical parameter. With a cumulative citation count exceeding 80, Ding’s research bridges theoretical elegance and real-world applicability, offering efficient, easily implementable solutions for mobile robot control.
Research Focus
Key Achievements
Top Papers
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