246 citations · 448 across the 13 of their papers we have counts for
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Construction of Differential-Cascaded Structures for Control of Robot Manipulators
Hanlei Wang
This paper focuses on the construction of differential-cascaded structures for control of nonlinear robot manipulators subjected to disturbances and unavailability of partial infor…
A Differential-Cascaded Approach for Adaptive Control of Robot Manipulators
Hanlei Wang
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission…
A Differential-Cascaded Paradigm for Control of Nonlinear Systems
Hanlei Wang, Wei Ren, Chien Chern Cheah
This paper focuses on developing a new paradigm motivated by investigating the consensus problem of networked Lagrangian systems with time-varying delay and switching topologies. W…
Towards Manipulability of Interactive Lagrangian Systems
Hanlei Wang
This paper investigates manipulability of interactive Lagrangian systems with parametric uncertainty and communication/sensing constraints. Two standard examples are teleoperation…
Dynamic Feedback for Consensus of Networked Lagrangian Systems
Hanlei Wang
This paper investigates the consensus problem of multiple uncertain Lagrangian systems. Due to the discontinuity resulted from the switching topology, achieving consensus in the co…
Task-Space Consensus of Networked Robotic Systems: Separation and Manipulability
Hanlei Wang, Yongchun Xie
In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics and address two main issues, i.e., the s…
Dynamic Modularity Approach to Adaptive Inner/Outer Loop Control of Robotic Systems
Hanlei Wang, Wei Ren, Chien Chern Cheah +2
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an oute…
Passivity-Based Adaptive Control for Visually Servoed Robotic Systems
Hanlei Wang
This paper investigates the visual servoing problem for robotic systems with uncertain kinematic, dynamic, and camera parameters. We first present the passivity properties associat…
Adaptive Control of Robot Manipulators With Uncertain Kinematics and Dynamics
Hanlei Wang
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realiz…
Second-Order Consensus of Networked Mechanical Systems With Communication Delays
Hanlei Wang, Long Cheng
In this paper, we consider the second-order consensus problem for networked mechanical systems subjected to nonuniform communication delays, and the mechanical systems are assumed…
Similarity Decomposition Approach to Oscillatory Synchronization for Multiple Mechanical Systems With a Virtual Leader
Hanlei Wang
This paper addresses the oscillatory synchronization problem for multiple uncertain mechanical systems with a virtual leader, and the interaction topology among them is assumed to…
Adaptive Zero Reaction Motion Control for Free-Floating Space Manipulators
Shuanfeng Xu, Hanlei Wang, Duzhou Zhang +1
This paper investigates adaptive zero reaction motion control for free-floating space manipulators with uncertain kinematics and dynamics. The challenge in deriving the adaptive re…