吳修明老師研究、計畫成果  

研究計畫:

科技部專題研究計畫(新進人員), "無人樣車式行動載具與機械臂伺服系統之協同運動控制器設計與開發", NTD854,000, 107.11.01~108.10.31

研究著作:

學術期刊:

[1] C. L. Hwang, H. M. Wu and C. L. Shih, "Fuzzy Sliding-Mode Under-Actuated Control for Autonomous Dynamic Balance of an Electrical Bicycle," IEEE Trans. Control Systems Technology, Vol. 17, No. 3, pp. 658-670, 2009. (SCI)

[2] C. L. Hwang, H. M. Wu and C. L. Shih, "Autonomous Dynamic Balance of an Electrical Bicycle in Motion Using Variable Structure Under-Actuated Control," Asian Journal of Control, Vol. 13, No. 2, pp. 240-254, 2011. (SCI)

[3] C. L. Hwang, H. M. Wu and C. L. Shih, "Hybrid Under-Actuated Control for Autonomous Dynamic Balance of a Running Electrical Bicycle System Including Motor Dynamics and in the Presence of Huge Uncertainty," Journal of Vibration and Control, Vol. 19, No. 1, pp. 56-74, 2013. (SCI)

[4] C. L. Hwang and H. M. Wu, "Trajectory Tracking of a Mobile Robot with Frictions and Uncertainties Using Hierarchical Sliding-Mode Under-Actuated Control," IET Control Theory & Applications, Vol. 7, No. 7, pp. 952-965, 2013. (SCI)
[5] H. M. Wu, M. Karkoub and C. L. Hwang, "Mixed Fuzzy Sliding-Mode Tracking with Backstepping Formation Control for Multi-Nonholonomic Mobile Robots Subject to Uncertainties," Journal of Intelligent & Robotic Systems, Vol. 79, No. 1, pp. 73-86, 2015. (SCI)
[6] M. Karkoub, H. M. Wu and C. L. Hwang, "Nonlinear Trajectory-Tracking Control of an Autonomous Underwater Vehicle," Ocean Engineering, Vol. 145, No. 15, pp. 188-198, 2017. (SCI)
[7] H. M. Wu and R. Tafreshi, "Fuzzy Sliding-Mode Strategy for Air-Fuel Ratio Control of Lean-Burn SI Engines," Asian Journal of Control, Vol. 20, No. 1, pp. 149-158, 2018. (SCI)
[8] H. M. Wu and R. Tafreshi, "Air-fuel ratio control of lean-burn SI engines using the LPV-based fuzzy technique," IET Control Theory & Applications, Vol. 12, No. 10, pp. 1414-1420, 2018. (SCI)
[9] H. M. Wu and M. Karkoub, "Hierarchical variable structure control for the path following and formation maintenance of multi-agent systems," Journal of Intelligent & Robotic Systems, Vol. 95, No. 2, pp. 267-277, 2019. (SCI)
[10] H. M. Wu and M. Karkoub, "Hierarchical Decentralized Fuzzy Sliding-Mode Control for the Path-Tracking of Differential Driven Mobile Robots," Journal of the Chinese Society of Mechanical Engineers, Vol. 40, No. 3, pp. 273-285, 2019. (SCI)
[11] H. M. Wu and M. Karkoub, "Hierarchical Fuzzy Sliding-Mode Adaptive Control for the Trajectory-Tracking of Differential Driven Mobile Robots, International Journal of Fuzzy Systems, Vol. 21, No. 1, pp. 33-49, 2019. (SCI)
[12] H. M. Wu and R. Tafreshi, "Digital Fuzzy Sliding-Mode Control for a Linear Parameter Varying AFR System," Advances in Mechanical Engineering, Vol. 11, No. 1, 2019. (SCI)
[13] H. M. Wu and M. Karkoub, "Hierarchical inversion-based output tracking control for uncertain autonomous underwater vehicles using extended Kalman filter," Asian Journal of Control. (To appear) (SCI)
[14] C. L. Hwang, H. M. Wu and W. H. Hung, "Software/Hardware-Based Hierarchical Finite-Time Sliding-Mode Control with Input Saturation for an Omnidirectional Autonomous Mobile Robot," IEEE Access, Vol. 7, No.1, pp. 90254-90267, 2019. (SCI)
[15] H. M. Wu and R. Tafreshi, "Observer-Based Internal Model Air-Fuel Ratio Control of Lean-Burn SI Engines," IFAC Journal of Systems and Control. (To appear)
[16] C. L. Hwang, H. M. Wu and J. Y. Lai, "On-Line Obstacle Detection, Avoidance and Mapping of an Outdoor Quadrotor Using EKF Based Fuzzy Tracking Incremental Control," IEEE Access. (Accepted)
 
研討會:
[1] C. L. Hwang, H. M. Wu and C. L. Shih, "Autonomous dynamic balance of an electrical bicycle using variable structure under-actuated control," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3737-3743, 2008.
[2] C. L. Hwang, H. M. Wu and C. L. Shih, "A Fuzzy Decentralized Sliding Mode Robust Adaptive Under-Actuated Control for Autonomous Dynamic Balance of an Electrical Bicycle," IEEE Int. Conf. on Fuzzy Systems, pp.209-214, 2009.
[3] C. L. Hwang, H. M. Wu and C. L. Shih, "A Hybrid Fuzzy Decentralized Sliding Mode Under-actuated Control for Autonomous Dynamic Balance of a Running Electrical Bicycle Including Frictional Torque and Motor Dynamics and in the Presence of Huge Uncertainty," IEEE Int. Conf. on Fuzzy Systems, pp.1-8, 2010.
[4] C. L. Hwang and H. M. Wu, "A Hybrid Fuzzy Sliding-Mode Control for a Class of Generalized, Under-Actuated and Uncertain Nonlinear Dynamic Systems," IEEE Int. Conf. on Fuzzy Systems, pp. 1333-1338, 2011.
[5] H. M. Wu and C. L. Hwang, "Trajectory-based Control Under ZMP Constraint for the 3D Biped Walking via Fuzzy Control," IEEE Int. Conf. on Fuzzy Systems, pp. 706-712, 2011.
[6] C. L. Hwang and H. M. Wu, "A Class of Under-Actuated and Uncertain Nonlinear Dynamic Systems by Hybrid Neural-Based Variable Structure Control," IEEE Int. Conf. on Systems, Man and Cybernetics, pp. 2004-2010, 2011. 
[7] C. L. Hwang and H. M. Wu, "Hybrid Fuzzy Sliding-Mode Under-Actuated Control for Trajectory Tracking of Mobile Robot in the Presence of Friction and Uncertainty," IEEE WCCI 2012.

[8] H. M. Wu and M. Karkoub, "Hierarchical Backstepping Control for Trajectory-Tracking of Autonomous Underwater Vehicles Subject to Uncertainties," Int. Conf. on Control, Automation and Systems, pp. 1191-1196, 2014.

[9] H. M. Wu and R. Tafreshi, "Air-Fuel Ratio Control of Lean-Burn SI Engines Using Fuzzy Sliding-Mode Technique," ASME Dynamic Systems and Control Conferences, Tysons, Virginia, USA, 2017.
[10] H. M. Wu, "Fuzzy sliding-mode control for the path-following of an autonomous vehicle," SICE Annual Conference, Nara, Japan, 2018.
[11] H. M. Wu, "Nonlinear Trajectory-Tracking Control of a Car-Like Mobile Robot in the Presence of Input Saturations and a Pulse Disturbance," SICE Annual Conference, Hiroshima, Japan, 2019.
[12] H. M. Wu and H. Bai, "Sensor Fusion Based Path Following Control of a Car-Like Mobile Vehicle in the Presence of Input Saturations and a Pulse Disturbance," ICCAS, Jeju, Korea, 2019.
 
榮譽:
1. Scholarship awarded by National Science Council for the Graduate Students Study Abroad Program, 2008.
2. The Research Excellence Travel Grant awarded by Texas A&M University at Qatar in 2014.
3. Visiting Oklahoma State University supported by higher education sprout project in 2018. 

 

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