Design of an Enhanced Hybrid Fuzzy P+ID Controller for a Mechanical Manipulator. IEEE Transactions on Systems, Man and Cybernetics - Part B. 31:938–945.. 2001.
Tracking control of a manipulator under uncertainty by FUZZY P+ID controller. Fuzzy Sets and Systems. 122:125–137.. 2001.
Experiment Study of a Mechanical Manipulator under Uncertainty by hybrid P+ID Controllers. Control Theory and Application (in Chinese). 17:73–78.. 2000.
Extraction of line and step edges by fuzzy reasoning. International Conference on Computational Intelligence for Modelling, Control and Automation. :507–512.. 1999.
Mechatronics. 9:301–315.. 1999.
Real-Time Sensor-Based Obstacle Modeling in Configuration Space for Manipulator Motion Planning. Automation and Information Studies, Polish Academy of Science Journal. :121–136.. 1999.
Hybrid Fuzzy P+ID Control of a Mechanical Manipulator. International Conference on Information Processing and Management of Uncertainty in Knowledge-Based Systems. :1909–1910.. 1998.
Sensor Based Intelligent Robots International Workshop Dagstuhl Castle. Lecture Notes in Artificial Intelligence. 1724:311–325.. 1998.
Tracking Control of a Manipulator with Enhancement by Fuzzy P+ID Controller (invited paper). Fifth International Symposium on Methods and Models in Automation and Robotics. 3:773–779.. 1998.
Vision Navigation of an Autonomous Vehicle by Fuzzy Reasoning. IX European Signal Processing Conference. IV:2113–2116.. 1998.
A neuro-fuzzy system architecture for behavior-based control of a mobile robot in unkown environments. Fuzzy Sets and Systems. 87:133–140.. 1997.