Zhe
Papers
1
Total Citations
4
H-Index
1
About
Zhe is a leading researcher in fault-tolerant control systems for autonomous mobile robots, with a focus on real-time adaptation and actuator health monitoring. Their most impactful work introduces a novel adaptive control methodology that addresses actuator faults through the concept of Actuator Effectiveness Factors (AEF), enabling online evaluation of robot motion states. By integrating the Unscented Kalman Filter (UKF) and its square-root variant, Zhe significantly improved computational efficiency and numerical stability in fault detection. This approach, combined with an improved inverse dynamic control (IDC) reconfigurable controller, allows autonomous robots to maintain performance despite actuator degradation. Validated through experiments on a 3-DOF omnidirectional mobile robot, Zhe’s contributions have been cited 4 times, laying groundwork for resilient robotic systems. Their work is particularly notable for bridging theoretical control design with practical experimental validation, offering a robust framework for real-world applications in autonomous navigation and safety-critical robotics.
Research Focus
Key Achievements
Top Papers
- 1