Publication:

Selected Publications:

• X. Li, G. Chi, S. Vidas and C. C. Cheah, "Human-Guided Robotic Co-Manipulation: Two Illustrative Scenarios", IEEE Transactions on Control Systems Technology, Vol. 24, No. 5, pp 1751-1763 2016.
• X. Yan, C.C. Cheah, Q.M. Ta, Q.C. Pham, "Stochastic Dynamic Trapping in Robotic Manipulation of Microparticles using Optical Tweezers", IEEE Transactions on Robotics, vol. 32, no. 3, pp. 499-512, 2016.
• R. Haghighi, C. C. Cheah, "Optical Manipulation of Multiple Groups of Microparticles using Robotic Tweezers", IEEE Transactions on Robotics, Vol. 32, No.2, pp 275 - 285, 2016.
• C. C. Cheah, Q.M. Ta, R. Haghighi, "Grasping and Manipulation of a Micro-object using Multiple Optical Traps", Automatica, Vol.68, pp. 216 –- 227, June 2016.
• R. Haghighi, C. C. Cheah, "Two-Layered Framework for Distributed Multi-Agent Formation Following", IEEE Transactions on Control Systems Technology, Vol. 24, No. 3, pp 1134-1139, May 2016.
• X. Li and C. C. Cheah, "Robotic Cell Manipulation Using Optical Tweezers with Unknown Trapping Stiffness and Limited Field of View", IEEE/ASME Transactions on Mechatronics, Vol. 20, No.4, pp. 1624 -1632, 2015.
• J.J. Zhang and C.C. Cheah, "Passivity and Stability of Human-Robot Interaction Control for Upper-limb Rehabilitation Robots", IEEE Transactions on Robotics, Vol. 31, No.2, pp. 233-245, 2015.
• C. C. Cheah, X. Li, X. Yan and D. Sun, "PD Control Scheme for Robotic Manipulation of Biological Cell", IEEE Transactions on Automatic Control, Vol. 60, No. 5, p 1427-1432, 2015.
• X. Li and C. C. Cheah, "Adaptive Neural Network Control of Robot Based on a Unified Objective Bound", IEEE Transactions on Control Systems Technology, Vol. 22, No. 3, pp. 1032-1043, 2014.
• C. C. Cheah, X. Li, X. Yan and D. Sun, "Observer Based Optical Manipulation of Biological Cells with Robotic Tweezers", IEEE Transactions on Robotics (Special issue on Nanorobotics), vol.30, No.1, pp. 68-80, 2014.
• X. Li, C. C. Cheah, S. Hu and D. Sun, "Dynamic Trapping and Manipulation of Biological Cells with Optical Tweezers", Automatica, vol.49, pp. 1614-1625, 2013.
• X. Li and C. C. Cheah, "Global Task-space Control of Robots", Automatica, vol. 49, pp. 58-69, 2013.
• R. Haghighi, C. C. Cheah, "Multi-Group Coordination Control for Robot Swarms", Automatica, vol. 48, pp. 2526-2534, 2012.
• S.P. Hou and C. C. Cheah, "Can a Simple Control Scheme Work for a Complex System of Multiple Autonomous Underwater Vehicles?", IEEE Trans on Control Systems Technology Vol. 19 No. 5, pp 1090 - 1101, 2011.
• C. C. Cheah, C. Liu and J.J.E. Slotine, "Adaptive Jacobian Vision based Control for Robots with Uncertain Depth Information", Automatica, Vol. 46, No. 7, pp 1228 - 1233, 2010.
• C. C. Cheah, S.P. Hou, Y. Zhao, and J.J.E. Slotine, "Adaptive Vision and Force Tracking Control for Robots with Constraint Uncertainty", IEEE/ASME Trans on Mechatronics, Vol. 15, No. 3, pp 389-399 , 2010.
• C. C. Cheah, S.P. Hou and J.J.E. Slotine, "Region-based Shape Control for a Swarm of Robots", Automatica, Vol. 45, No. 10, pp 2406-2411, 2009.
• Y. Zhao and C. C. Cheah, "Neural Network Control of Multi-fingered Robot Hands using Visual Feedback", IEEE Transactions on Neural Networks, Vol. 20, No. 5, pp 758-767, 2009.
• C. C. Cheah, "Task-space PD Control of Robot Manipulators: Unified Analysis and Duality Property", International Journal of Robotic Research, Vol. 27, No. 10, pp 1152-1170, Oct 2008.
• C. Liu, C. C. Cheah and J.J.E. Slotine, "Adaptive task-space regulation of rigid-link flexible-joint robots with uncertain kinematics", Automatica, Vol. 44, No. 7, pp 1806–1814, July 2008.
• C. C. Cheah, D.Q. Wang and Y.C. Sun, "Region Reaching Control of Robots", IEEE Transactions on Robotics, Vol. 23, No. 6, pp 1260-1264, Dec 2007.
• C. C. Cheah, C. Liu and J.J.E. Slotine, "Adaptive Tracking Control for Robots with Unknown Kinematic and Dynamic Properties", International Journal of Robotic Research, Vol. 25, No. 3, pp 283-296, 2006.
• C. Liu, C. C. Cheah and J.J.E. Slotine, "Adaptive Jacobian Tracking Control of Rigid-Link Electrically Driven Robots based on Visual Task-Space Information", Automatica, Vol. 42, No. 9, pp 1491-1501, Sep 2006.
• C. C. Cheah, C. Liu and J.J.E. Slotine, "Adaptive Jacobian Tracking Control of Robots with Uncertainties in Kinematic, Dynamic and Actuator Models", IEEE Transactions on Automatic Control, Vol. 51, No. 6, pp 1024 - 1029, 2006.
• C. C. Cheah and H. C. Liaw, "Inverse Jacobian Regulator with Gravity Compensation: Stability and Experiment", IEEE Transactions on Robotics, Vol. 21, No. 4, pp 741- 747, August 2005.
• C. Liu and C. C. Cheah, "Task-space Adaptive Setpoint Control for Robots with Uncertain Kinematics and Actuator Model", IEEE Transactions on Automatic Control, Vol. 50, No. 11, pp 1854-1860, November 2005.
• C. C. Cheah, M. Hirano, S. Kawamura and S. Arimoto, "Approximate Jacobian Control with Task-space Damping for Robot Manipulators", IEEE Transactions on Automatic Control, Vol. 49, No. 5, pp 752- 757, May 2004.
• C. C. Cheah, M. Hirano, S. Kawamura and S. Arimoto, "Approximate Jacobian Control for Robots with Uncertain Kinematics and Dynamics", IEEE Transactions on Robotics and Automation, Vol. 19, No. 4, pp 692- 702, Aug. 2003 (USA).
• C. C. Cheah, S. Kawamura and S. Arimoto, "Stability of Hybrid Position and Force Control for Robotic Manipulator with Uncertain Kinematics and Dynamics", Automatica, vol 39, No. 5, pp 847 - 855, 2003 (UK).
• H. Yazarel and C. C. Cheah "Task-space Adaptive Control of Robotic Manipulators with Uncertainties in Gravity Regressor Matrix and Kinematics", IEEE Transactions on Automatic Control , Vol 47, No. 9, pp 1580-1585, Sept 2002, (USA).
• H. Yazarel, C. C. Cheah and H.C. Liaw, "Adaptive SP-D Control of Robotic Manipulators in the presence of Modeling Error in a Gravity Regressor Matrix: Theory and Experiment", IEEE Transactions on Robotics and Automation, Vol 18, No. 3, page 373 - 379, June 2002, (USA).
• C. C. Cheah, S. Kawamura and S. Arimoto and K. Li, "H∞ Tuning for Task-Space Feedback Control of Robot with Uncertain Jacobian Matrix", IEEE Transactions on Automatic Control , Vol 46, No. 8, pp 1313-1318, August 2001 (USA).
• H. Kino, S. Yabe, C. C. Cheah, S. Kawamura and S. Arimoto, "A Motion Control Scheme in Task Oriented Coordinates and its Robustness for Parallel Wire Drive Systems", Journal of Robotics Society of Japan, vol. 18, No. 3, pp 411-418, 2000 (Japan).
• S. Arimoto, H.Y. Han, C. C. Cheah and S. Kawamura, "Extension of Impedance Matching to Nonlinear Dynamics of Robot Tasks" System and Control Letters, vol. 36, No. 2, pp 109-119, 1999 (Holland).
• C. C. Cheah, S. Kawamura and S. Arimoto "Feedback Control for Robotic Manipulators with an Uncertain Jacobian Matrix", Journal of Robotic System, vol. 12, No. 2, pp 119-134, 1999 (USA).
• C. C. Cheah and D. Wang, "Learning Impedance Control for Robotic Manipulator", IEEE Transactions on Robotics and Automation, vol. 14, No. 3, pp 452-465, 1998 (USA).
• D. Wang and C. C. Cheah, "An Iterative Learning Control Scheme for Impedance Control of Robotic Manipulator", International Journal of Robotic Research, Vol 17, No. 10, pp1091-1103, 1998 (USA).
• D. Wang, Y. C. Soh, and C. C. Cheah, "Robust Motion and Force Control of Constrained Manipulators by Learning", Automatica, Vol. 31, No. 2, pp 257-262, 1995 (UK).