Zhengcai

Papers

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About

Zhengcai’s research centers on the control and stabilization of nonholonomic mobile robots, with a particular focus on trajectory tracking, path following, and visual servo stabilization. His major contributions include developing adaptive control strategies that address the inherent constraints of nonholonomic systems, such as non-integrable velocity constraints and actuator limitations. Notably, his 2011 paper on adaptive trajectory tracking control, which has garnered 16 citations, introduces a robust framework for ensuring precise motion in dynamic environments. In his 2013 work on predictive control for visual servo stabilization, Zhengcai tackles the challenging problem of stabilizing a mobile robot using visual feedback while accounting for visibility and actuator constraints—a critical step toward practical deployment. By combining kinematic and dynamic predictive controllers, his approach enables asymptotic convergence of the robot’s actual velocity to desired values, even under real-world limitations. Though his citation counts are modest, Zhengcai’s work is foundational for researchers seeking to bridge theoretical control design with physical robot implementation. His achievements highlight a persistent effort to make nonholonomic robot control both theoretically sound and practically viable.