11th International Workshop on Robot Motion and Control

Witold Respondek

Institut National des Sciences Appliquées de Rouen
Rouen, France


Linearization of nonlinear control systems: state-space, feedback, orbital, and dynamic


We will discuss various concepts of linearization of nonlinear control systems: via state-space diffeomorphisms, via static feedback, via orbital feedback, and via dynamic precompensation. For the first three notions of linearization, we recall necessary and sufficient geometric conditions for linearizability and provide methods to find linearizing transformations. Then we will concentrate on systems linearizable via dynamic feedback, so called, flat systems. We will provide various equivalent definitions (in particular, relations with Cartan’s absolute equivalence), discuss main difficulties to obtain necessary and sufficient conditions, and provide a complete solution in the case of the smallest differential weight. We will illustrate the introduced notions and and results with physical examples.


Professor Witold Respondek was born in Poland. He received his Ph.D. degree form the Institute of Mathematics, Polish Academy of Sciences in 1981. He has had positions at the Technical University of Warsaw and at the Polish Academy of Sciences. Since 1994 he has been a professor of applied mathematics at the INSA de Rouen, France. General areas of his scientific interest are geometric methods in systems and control theory as well as geometric methods in differential equations. His research papers have been devoted to problems of linearization of nonlinear control systems, nonlinear observers, classification of control systems and vector distributions, dynamic feedback, applications of high-gain feedback to nonlinear systems, and systems invariant on cones. Recently he has been working on mechanical control systems and on flatness, with particular emphasis on systems with nonholonomic constraints, and on geometry of optimal control problems. He has been an associated editor of SIAM Journal on Control and Optimization, Applicationes Mathematicae, Central European Journal of Mathematics, and Journal of Geometric Mechanics. He is an editor of six books and author or co-author of more than 100 journal and conference papers.

Lounis Adouane

Institut Pascal, UMR CNRS/UCA/SIGMA
Polytech Clermont-Ferrand


Toward Fully Autonomous Vehicle Navigation: From Behavioral to Hybrid Multi-Controller Architectures


This talk makes the focus on the way to increase gradually the autonomy of mobile mono- robot as well as Multi-Robot Systems (MRS) to achieve complex tasks. Its main objective is to give an overview of the developed generic control architectures, and their different components, in order to enhance the safety, flexibility and the reliability of autonomous navigations in complex environments (e.g., cluttered, uncertain and/or dynamic). The proposed control architectures (decision/action) have been addressed through three closely related elements: task modeling (e.g., according for instance to appropriate local or global reference frames); planning/re-planning and finally the control aspects. More precisely the main discussed complementary components deal with: reliable and flexible obstacle avoidance; stable control laws for target reaching/tracking; optimal short- and long-term trajectories/waypoints planning (set-points definition); safe and flexible navigation through sequential waypoints; cooperative control and interaction of a group of mobile robots. Furthermore, among the main ideas developed in this talk are those related to the potentiality of using multi-controller architectures (well-known initially in the literature as behavioral control architectures). Indeed, using this kind of control permits us to break the complexity of the overall tasks to be carried out and therefore allows a bottom-up development. This will imply the development of appropriate reliable elementary controllers (obstacle avoidance, target reaching/ tracking, formation maintaining, etc.), but also the proposition of appropriate mechanisms to manage the controllers’ interactions characterizing these kinds of architectures, which ensures the respect of different constraints and enhancing metrics/criteria linked to the overall control reliability. Although the developed concepts/methods/architectures could be applied for different domains (such as service robotics or agriculture), the transportation-related purposes remains the privileged target. Applications include the transportation of persons (private car or public transport) as well as merchandise transportation (in warehouses or ports for instance).


Lounis Adouane is an Associate Professor since 2006 at the Institut Pascal–Polytech Clermont-Ferrand in France. He received an MS in 2001 from IRCCyN–ECN Nantes, where he worked on the control of legged mobile robotics. In 2005, he obtained a PhD in automatic control from FEMTO-ST laboratory–UFC Besançon. During his PhD studies he deeply investigated the field of multi-robot systems, especially those related to bottom-up and reactive control architectures. After that, he joined in 2005 Ampère laboratory–INSA Lyon and studied hybrid (continuous/discrete) control architectures applied to cooperative mobile robot arms. Dr. Adouane had the opportunity to visit several institutions/laboratories, such as 1 month in 2009 at LIST (Luxembourg) and 6 months in 2014 at Cranfield and Kingston universities (United Kingdom). In 2015, he obtained from Blaise Pascal University a HDR (habilitation to steer research in Robotics). Dr. Adouane’s main research and teaching activities are linked to robotics, automatic control and computer science. His current research topics are related to both autonomous navigation of mobile robots in complex environments and cooperative control architectures for multi-robot systems. More details could be seen via this webpage: http://LounisAdouane.online.fr/. Since 2006, he has authored/coauthored more than 70 international references and 2 books dealing mainly with the following keywords: autonomous mobile robots/vehicles; control of complex systems; multi-controller architectures; hybrid (continuous/discrete) and hybrid (reactive/cognitive) control architectures; Lyapunov-based synthesis and stability; obstacle avoidance (static and dynamic); limit-cycle approach; target reaching/tracking; cooperative multi-robot systems; navigation in formation (virtual structure, leader-follower); cooperative exploration task; cooperative transportation task; task allocation; auction coordination; kinematic constraints; constrained control; optimal planning; continuous curvature path; clothoids composition; velocity planning; waypoints generation; multi-criteria optimization; artificial intelligence (such as: Markov decision process, multi-agent system, fuzzy logic, etc.); multi-robot/agent simulation.

António Pedro Aguiar

Dept. of Electrical and Computer Engineering (DEEC)
Faculty of Engineering, University of Porto (FEUP)


Single and Multiple Motion Control of Autonomous Robotic Vehicles


The past few decades have witnessed a significant research effort in the area of motion control for autonomous robotic vehicles. This talk addresses two topics in this area: (1) the design of control systems to drive a vehicle to track a time-parameterized trajectory (trajectory tracking), or to follow a geometric path (path-following); and (2) the problem of making a group of autonomous robotic vehicles follow desired geometric paths while keeping a specified formation pattern (cooperative path-following).
From a theoretical standpoint, special attention is given to a number of challenging problems that include the complex and nonlinear vehicle dynamics, uncertainty, disturbances, and when in cooperation, the problem of communication constraints, where the latter are imposed by intermittent failures and latency. Nonlinear control theory, model-predictive control, and networked control are some of the tools that will be discussed. Illustrative examples (simulations and field tests) will be presented for Autonomous Underwater Vehicles (AUVs), Autonomous Surface Vehicles (ASVs) and Unmanned Aerial Vehicles (UAVs).


A. Pedro Aguiar received the Licenciatura, M.S. and Ph.D. in electrical and computer engineering from the Instituto Superior Técnico (IST), Technical University of Lisbon, Portugal in 1994, 1998 and 2002, respectively. Currently, Dr. Aguiar holds an Associate Professor position with the Department of Electrical and Computer Engineering (DEEC), Faculty of Engineering, University of Porto (FEUP). From 2002 to 2005, he was a post-doctoral researcher at the Center for Control, Dynamical-Systems, and Computation at the University of California, Santa Barbara (UCSB). From 2005 to 2012, he was a senior researcher with the Institute for Systems and Robotics at IST (ISR/IST), and an invited assistant professor with the Department of Electrical and Computer Engineering, IST.
His research interests include modeling, control, navigation, and guidance of autonomous robotic vehicles, nonlinear control, switched and hybrid systems, tracking, path-following, performance limitations, nonlinear observers, the integration of machine vision with feedback control, networked control, and coordinated/cooperative control of multiple autonomous robotic vehicles.

Kimon P. Valavanis

Fellow U.K. Institute of Measurement and Control
John Evans Professor and Chair, Electrical and Computer Engineering
Director, DU Unmanned Systems Research Institute (DU2SRI)
Daniel Felix Ritchie School of Engineering and Computer Science
University of Denver, Denver,USA



Unmanned Aircraft Systems: Challenges in Design for Autonomy and Integration into the National Airspace


Unmanned Aircraft Systems (UAS) have seen unprecedented levels of growth during the last decade; projections and expectations for future utilization center on a very wide spectrum of civilian/public domain applications, spanning emergency response, environmental monitoring, early fire detection and forest protection, to name but a few such applications. However, before timely and orderly integration into civilian airspace it is essential that R&D at least in the areas of design for autonomy, navigation, robust and fault-tolerant control, sense-detect-and-avoid/see-and-avoid systems for mid-air collision avoidance, UAV safety and reliability, reaches maturity before complete UAS integration into the national airspace system occurs.

This talk focuses at first on the design for autonomy framework, the transition from the ‘human-in-the-loop’ to the ‘human-on-the-loop’ concept that is coupled with the much needed reduced operator workload, followed by a comprehensive and modular UAS control architecture aiming at facilitating software developments regardless of specific hardware. Next, a generalized framework is presented for (nonlinear, linearized and linear) controller design for unmanned aircraft including a methodology to accommodate in real-time rotorcraft main/tail rotor failures resulting in helicopter safe landing. A scalable sense-detect-and-avoid system (SDAA) is discussed based on a combination of long- / short- range radar sensors, which is capable of simultaneously detecting and identifying multiple threats. This is patented technology that has been licensed for evaluation purposes. Moving forward, and considering that Personal Air Vehicles (PAVs) is not such an ‘unthinkable’ goal, an integrated methodology to build and test Circulation Control Based fixed-wing UAVs (taking advantage of the Coanda effect) is presented, which allows for enhanced performance, reduced take-off runway, delayed stall and increased payload during cruise flight.

The talk concludes with a methodology to integrate unmanned aviation into the national airspace based on establishing Equivalent Levels of Safety (ELOS), probability of failure of unmanned aircraft and kinetic energy upon impact.


Dr. Kimon P. Valavanis received the Diploma in Electrical and Electronic Engineering (DiplômeIngénieur, 5 years of study) from the National Technical University of Athens (http://www.ntua.gr), Greece, in 1981, and he completed the Professional Engineer (PE) exams in Electrical and Mechanical Engineering in February, 1982. He has been a member of the Technical Chamber of Greece since 1982. He received the M.Sc. degree in Electrical Engineering and the PhD degree in Computer and Systems Engineering from Rensselaer Polytechnic Institute (RPI) (http://www.rensselaer.edu) in 1984 and 1986, respectively.

Dr. Valavanis held the Analog Devices Career Development Chair for Assistant Professors, Department of Electrical and Computer Engineering (ECE), Northeastern University (http://www.northeastern.edu) from 1987 to 1990, where he also was Director of the Robotics Laboratory. From 1991 to 1999 he was with The Center for Advanced Computer Studies (CACS), University of Louisiana at Lafayette (http://www.cacs.louisiana.edu), where he served as Associate Professor (1991-1995) and,since 1995, as Professor of Computer Engineering. He also was Associate Director for Research at the A-CIM Center (1993-1999) and Director of the Robotics and Automation Laboratory. During 1993-1999, he also held the A-CIM/[TC]2/Regents Professorship in Manufacturing.

From 1999-2003, Dr. Valavanis was Professor in the Department of Production Engineering and Management (DPEM), Technical University of Crete (TUC) (http://www.tuc.gr), Greece, where he also established and served as Founding Director of the Intelligent Systems and Robotics Laboratory (ISRL). He served as Director of the DPEM Graduate/PhD Program and as Chair of the TUC Industrial Advisory Board (IAB) and Technical Council; one of his major responsibilities was coordinating and approving new campus building development.

From August 2003-August 2008 he was Professor in the Department of Computer Science and Engineering (CSE), University of South Florida (http://www.cse.usf.edu), where he also served as Deputy Director of the Center for Robot-Assisted Search and Rescue (CRASAR) until the summer of 2005. In Fall of 2005, he established the Unmanned Systems Laboratory (USL) in the College of Engineering, in which he served as Founding Director. In addition, he served as Managing Director of theNational Institute for Applied Computational Intelligence (NIACI) and he was Faculty Associate at the Center for Urban Transportation Research (CUTR). From 2004-3/2006, he also served as Managing Director of the American Foundation for Greek Language and Culture, AFGLC (http://www.afglc.org).

Dr. Valavanis joined the University of Denver (DU) on September 1, 2008, as Professor and Chair of the Electrical and Computer Engineering Department, and in June of 2013 he was named John Evans Professor, which is the highest award at DU. He also served as Interim/Acting Chair of the Computer ScienceDepartment for two years (7/2009 to 6/2011). He was the Founding Director of the DU Unmanned Systems Laboratory (DU2SL), which he established in early 2009. In November of 2012, he officially created the DU Unmanned Systems Research Institute (DU2SRI), in which he serves as Founding Director. One of the objectives of the Institute is to build the next generation of safe and reliable autonomous / semi-autonomous unmanned systems and aircraft that will be integrated into the national airspace system. Activities within the Institute have already resulted in ‘transformative research’ and patented technology that has been licensed to companies. More specifically, a patented sense-detect-and-avoid (SDAA) system for UAVs has been licensed to Integrated Robotics and Imaging Systems for testing. Recent patented technology relates to: landing platform prototype ground mobile vehicles on which helicopters and quadrotors can land and recharge; real-time pose estimation for autonomous landing of rotary wing UAVs; and, developing circulation control based (unmanned) aircraft.

Since the middle 1990’s, Dr. Valavanis has been Guest Professor in the Faculty of Electrical Engineering and Computing, Department of Telecommunications, University of Zagreb (http://www.fer.hr), Croatia. He also was invited through the European Union PhD Research Program in Italy to teachRobotics and Unmanned Systems at the Dipartimento di Ingegneria Informatica, Gestionale e dell’ Automazione, Universitά Politecnica delle Marche, Ancona, Italy (2004). Furthermore, he was invited through the PhD – Excellence program in Italy to teach an accelerated course in UAV navigation and control at the Politecnico di Torino, Dipartimento di Ingegneria Meccanica e Aerospaziale (September, 2016). He offered the same course at the South China University of Technology in November, 2016. In addition, he collaborates regularly with colleagues at TUC, NTUA, University of Patras, University of Zagreb, Politecnico di Torino, Universitά Politecnica delle Marche, Georgia Tech, University of Notre Dame, and he is a member of the Advisory Board of European Union (EU) funded projects.

As Chair of the ECE Department at DU he initiated, led and coordinated efforts to create a newundergraduate focus program in Mechatronic Systems Engineering (MSE) leading to a specialized BS-MSE degree, and a new PhD program in MSE. Currently DU is the only University in the U.S. offering BS-MSE, M.Sc. and PhD degrees in MSE. The new BS-MSE program was mentioned as a ‘major strength’ during the 2010 ABET visit and in the final ABET report received in August 2011. The recent ABET visit, September 2016, resulted in even stronger reports for both the Electrical Engineering (EE) and the Computer Engineering (CpE) programs. Further, he led and coordinated the effort to create a new concentration at the undergraduate and graduate level in Electric Power and Energy Systems, focusing on Renewable Energy and the SmartGrid. In his capacity as Chair (Interim Chair) of ECE (CS), he led and coordinated efforts to establish ‘by default’ minors for Computer Science students in Computer Engineering and for Computer Engineering students in Computer Science. He strengthened relations among the two Departments and collaboration among faculty, recommending joint/courtesy appointments – this was also mentioned as a major strength in the 2010 ABET visit and, afterwards, in the final report. As Chair of the ECE he also focused on improving research and on increasing funding by providing faculty the needed leadership, encouragement and support infrastructure to facilitate their efforts. Funding was increased from about $500K total in late 2008 to a total of $12.5M by September 2016. Annual funding in ECE among ‘active research faculty’ approaches $200K per year per active research faculty.

Dr. Valavanis’ responsibilities as Department Chair include: strategic planning and future planning for academic/departmental needs; budget management; distribution/allocation of available resources and other facilities; recommendations to hire faculty, lecturers and adjunct faculty; recommendations for tenure and/or promotion; faculty/staff evaluations; looking for multidisciplinary inter-departmental and multi-university research opportunities; innovations in education, and faculty engagement with IAB members. A major focus of his efforts has been to establish international collaborations between ECE and other Universities outside the U.S. Within RSECS, given the new leadership in the Dean’s office and strategic planning, he leads and coordinates efforts to identify key research directions and clusters to increase and sustain funding, long-term. However, the most important responsibility has been to provide a friendly working environment and facilitate and support faculty members, support students and continuously enhance and improve education and research.

During his Academic career thus far, Dr. Valavanis has graduated more than 35 PhD students and more than 100 M.Sc. students. He has attracted and has helped attracting more than $50M in research funds from Federal and State agencies, industry and the private sector. While in Europe, he was funded by the Greek Secretariat of Research and Technology, the European Union, industry, and from the Croatian Ministry of Science and Technology (joint projects).

Dr. Valavanis’ research interests focus on the areas of Unmanned Systems, Distributed Intelligence Systems, Robotics and Automation. He has published close to 400 book chapters, technical journal/transaction, referred conference papers, invited papers and technical reports. He has authored, co-authored and/or edited the following books: Intelligent Robotic Systems: Theory, Design and Applications (with Dr. G. N. Saridis), Kluwer Academic Publishers, 1992; Control Problems in Robotics and Automation (co-editors with B. Siciliano), Lecture Notes in Control and Information Sciences, Vol. 230, Springer-Verlag, 1998; Intelligent Manufacturing Systems: Programming and Control (with J. Balic, N. Tsourveloudis and S. Ioannidis), University of Maribor Publications, 2003; Advances in Unmanned Aerial Vehicles: State of the Art and the Road to Autonomy (editor and co-author of nine Chapters), Springer, 2007; Unmanned Aircraft Systems – International Symposium on Unmanned Aerial Vehicles, UAV’08, (co-editors with P. Oh and L. A. Piegl), Springer 2009; On Integrating Unmanned Aircraft Systems into the National Airspace System: Issues, Challenges, Operational Restrictions, Certification, and Recommendations(with K. Dalamagkidis and L. A. Piegl), Springer 2009, with a 2ndEdition published in 2012; Intelligent Control Applications to Engineering Systems (editor) Springer, 2009; Unmanned Aircraft Systems – 2nd International Symposium on Unmanned Aerial Vehicles, UAV’09 (co-editors with R. Beard, P. Oh, A. Ollero, L. Piegl, H. D. Shim), Springer, 2010; Unmanned Aerial Vehicles (editor), Springer, 2011; Linear and Nonlinear Control of Small Scale Unmanned Rotorcraft (I. A. Raptis, K. P. Valavanis), Springer, 2012, which has also been translated into Chinese; Recent Developments in Unmanned Systems (editor), Springer, 2012; Unmanned Aircraft Systems: Challenges and state of the art (editor), Springer, 2013; Handbook of Unmanned Aerial Vehicles (UAVs) (editors, K. P. Valavanis, G. J. Vachtsevanos), Springer, 2015, which is the only handbook published worldwide – a five-Volume Handbook that includes all aspects of UAVs, also translated into Chinese – a 2nd Edition is now in progress, to be published by Springer in 2017;Unmanned Aircraft Systems: Research and Development on Theory and Applications, (editor, K. P. Valavanis), Springer (to be published in late 2017). Two more, highly specialized recent books, now in production by Springer are: Foundations of Circulation Control Based Small-Scale Unmanned Aircraft: A Comprehensive Methodology from Concept to Design and Experimental Testing (K. Kanistras, K. P. Valavanis, M. J. Rutherford), and, Modeling, Navigation and Control of a Small-Scale Flybarless Unmanned Rotorcraft (J. Alvarenga, K. P. Valavanis, M. J. Rutherford). In addition, he is the co-author (with G. Atsalakis and K. Zopounidis) of the book Stock Market Forecasting Techniques (in Greek), Klidarithmos, 2008. He also holds several patents in the area of unmanned aerial vehicles.

Dr. Valavanis has organized two International Advanced Robotics Programme (IARP) meetings in Lisbon, Portugal, and Lafayette LA, U.S., which were funded by the National Science Foundation (NSF). He also organized and taught Tutorials and Workshops at the IEEE Conference on Decision and Control (CDC), American Control Conference (ACC), International Conference on Robotics and Automation (ICRA), Conference on Telecommunications (ConTel), the Mediterranean Conference on Control and Automation (MED) and the International Conference on Unmanned Aircraft Systems (ICUAS).

He served as Associate Editor of the IEEE Transactions in Robotics and Automation from 2/1996-2/1999, as the Robotics and Automation Society “Discrete Event Dynamic Systems Technical Committee” co-Chair for two years, and as an Associate Editor of the IEEE Robotics and Automation Society Magazine from 1994 to 1995. He was Editor-in-chief of the same Magazine for ten years (1996-2005). He was Book Review Editor of the Journal of Intelligent and Robotic Systems (JINT) until 2006, and since then, he serves as the Editor-in-Chief of JINT. He also serves on the Editorial Advisory Board of the International Series on Microprocessor Based and Intelligent Systems Engineering Series published by Springer. He served as a member of the IEEE Robotics and Automation Society Awards Committee for three years, and serves as co-chair/chair of the Aerial Robotics and Unmanned Aerial Vehicles Technical Committee (2008 – present). He is also Fellow of the American Association for the Advancement of Science (AAAS).

Dr. Valavanis has received invitations by the Hellenic Quality Assurance Agency (H.Q.A.A.) for Higher Education of the Hellenic Republic to evaluate Greek Universities (ABET Evaluation), and by the European Unionto be an evaluator of IP and STREP projects as part of the 7th European Union (EU) Framework Programme for Research and Technology Development (FP7) – Information and Communication Technologies (ICT-2009.2.1 Cognitive Systems and Robotics), and he also served as a member of the Hearing Committee panel in Luxemburg. He is an appointed Scientific Project Reviewer in projects financed by the Ministry of Science, Education and Sports of the Republic of Croatia and in research projects evaluated by the Italian Evaluation of Research Quality exercise (VQR 2004-2010).

Dr. Valavanis has been on the organizing committee of many conferences, serving as General, Program, Registration, Local Arrangements Chair, including: Registration Chair of the 36th IEEE CDC; Local Arrangements Chair of the 34th IEEE CDC; General Chair (with F. Lewis) of the 11th Mediterranean Conference on Control and Automation, June 2003; Program Chair of the 2004 IEEE ICRA; General Chair (with P. Antsaklis) of the 15th Mediterranean Conference on Control and Automation, June 2007; General Chair (with W. Gruver) of the IEEE SMC International Conference on Distributed Human-Machine Systems, March 2008; General Chair of the 2011 IEEE Multi-Conference on Systems and Control, September, 2011; General Chair (with P. Antsaklis) of the 21st Mediterranean Conference on Control and Automation, June 2013; General Chair of the 24thMediterranean Conference on Control and Automation, June 2016. He has also served as General Chair of the ICUAS, which he created in 2008. In 1998, he was elected as Vice President – Administration of the Mediterranean Control Association (MCA).

Dr. Valavanis was a Distinguished Speaker in the IEEE Robotics and Automation Society (- 2003), a Senior Member of IEEE, a Fellow of the American Association for the Advancement of Science and a Fellow of the U.K Institute of Measurement and Control. He is also a Fulbright Scholar (Senior Lecturing &Research Award).

Yongchun Fang

College of Computer & Control Engineering
Nankai University Tianjin, China


Nonlinear Control of VariousUnderactuated Systems: Theoretical Design and Industrial Applications


Compared with fully actuated systems, underactuated systems present such advantages as simpler structure, broader applications, and so on. Yet the control of this kind of system proves to be a very challenging problem due to the underactuated property. This talk mainly introduces the recent results on the nonlinear control of variousunderactuated systems, firstly for overhead cranes, later on extended to other systems such as offshore boom cranes, quadrotor transportation systems, and so on. Finally, the designed control strategy is successfully applied to a 32 tons industrial overhead crane to achieve full-automatic operation.


Dr. Yongchun Fang is a distinguished professor, also the vice head of the College of Computer and Control Engineering, Nankai Univeristy. Dr. Fang received the B.S. degree in electrical engineering and the M.S. degree in control theory and application, both from Zhejiang University, P. R. China, in 1996 and 1999, respectively, and the Ph.D. degree in electrical engineering from Clemson University, SC, USA in 2002. From 2002 to 2003, he was a Postdoctoral Fellow at the Mechanical and Aerospace Engineering Department, Cornell University. Since 2003, he has been a professor at the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, P. R. China.

Dr. Fang’sresearch interests inlcudeunderactuated systems control, visual servoing, AFM-based nano-manipulation, and so on. Hewon the very prestigious “National Distinguished Young Scholars” Award from National Science Foundation of China (NSFC) in 2013. He is also an Awardee of Tianjin Youth Leaders in Technological Innovation (2014), and an awardee of the 10th young scientist award of Tianjin. His research has been well supported by National Science Foundation of China and other Chinese government funding, such as the well-known National High Technology Research and Development Program (“863” Program), the National Science and Technology Pillar Program, and so on, with a total amount of about 19M RMB within the recent 5 years. During the past 5 years, he has many papers published in prestigious international journals, including more than 20 papers published by IEEE Transactions.His work in underactuated overhead crane, visual servoing, and so on, has been well cited around the world. Especially for the research of underactuated crane control, he has five papers among the top ten most cited papers on crane control during the past 5 years.