Duc-Cuong VU | Automation & Control

About

I am a Project Researcher at Hanoi University of Science and Technology (HUST) and an R&D Robotics Engineer at VinRobotics, Vingroup. My work focuses on robotics, automation, and control systems, spanning both academic research and industrial development.

I am pursuing an M.Sc. degree in Automation and Control Engineering at HUST, where I also earned my B.Sc. degree in 2024. I will be joining Nanyang Technological University (NTU), Singapore as a PhD student with the NTU Research Scholarship.

News

[Apr 08, 2025]I received NTU Research Scholarship for PhD studies.

[Sep 17, 2025]My work for HUST project is accepted for publication in Ocean Engineering.

[Sep 08, 2025]Thrilled to begin a new chapter at VinRobotics!

[Jul 07, 2025]Our ship-mounted Stewart platform paper is accepted for publication in Ocean Engineering.

[May 28, 2025]My project with VinIF, related to my master's course, was completed with high appropriateness.

[May 20, 2025]An AUV-related manuscript is submitted to Ocean Engineering.

[Apr 16, 2025]A paper on ship-mounted Stewart platform is submitted to Ocean Engineering.

[Mar 27, 2025]Our paper on ballbot was accepted for publication in IEEE Access.

[Dec 30, 2024]Our paper on Stewart Platforms was accepted for publication in Results in Engineering.

[Sep 12, 2024]I am delighted to announce that I have decided to receive the VinIF scholarship for my master's course.

[Jul 01, 2024]I started my Master of Science in Automation and Control at HUST.

[May 11, 2024]I graduated with a Bachelor of Science in Automation and Control from HUST.

[Mar 27, 2024]Our paper on ballbot was accepted for publication in IJRNC.

Education

Hanoi University of Science and Technology

School of Electrical and Electronic Engineering · Hanoi, Vietnam

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Master of Science in Automation and Control

Jul 2024 – Jul 2026

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Bachelor of Science in Automation and Control

Oct 2020 – Apr 2024

Selected Publications

Ocean Eng.

Glocal trajectory generation and tracking control for AUVs with optimal coverage sensor networks

Duc Cuong Vu*, Son Tran*, Tung Lam Nguyen, and Duc Chinh Hoang

* equal contribution

Ocean Engineering, 2025

[paper][pdf][code]

Ocean Eng.

Lagrangian-based modeling and safety-critical controls for Stewart platforms under marine operations

Duc Cuong Vu, Danh Huy Nguyen, Minh Nhat Vu, and Tung Lam Nguyen

Ocean Engineering, 2025

[paper][pdf]

IET Cyber-Syst. Robot.

Unifying Hierarchical Sliding Mode Control and Control Barrier Function for Tilt Angle Constraint of a Ball-Balancing Robot

Thi Thuy Hang Nguyen, Duc Cuong Vu, Minh Duc Pham, Tung Lam Nguyen, and Thi-Van-Anh Nguyen

IET Cyber-Systems and Robotics, 2025

[accepted manuscript]

IEEE Access

CBFs-based Model Predictive Control for Obstacle Avoidance with Tilt Angle Limitation for Ball-Balancing Robots

Minh Duc Pham, Duc Cuong Vu, Thi Thuy Hang Nguyen, Thi Van Anh Nguyen, Minh Nhat Vu, and Tung Lam Nguyen

IEEE Access, 2025

[paper][pdf]

RinE

A novel approach of Consensus-based Finite-time Distributed Sliding Mode Control for Stewart platform manipulators motion tracking

Duc Cuong Vu, Danh Huy Nguyen, and Tung Lam Nguyen

Results in Engineering, 2025

[paper][pdf]

IJRNC

Time-optimal trajectory generation and observer-based hierarchical sliding mode control for ballbots with system constraints

Duc Cuong Vu, Minh Duc Pham, Thi Thuy Hang Nguyen, Thi Van Anh Nguyen, and Tung Lam Nguyen

International Journal of Robust and Nonlinear Control, 2024

[paper][pdf]

Work Experience

R&D Robotics Engineer

VinRobotics, Vingroup · Hanoi, Vietnam

Sep 2025 – Present · Full-time

Led dynamic parameter identification for robotic manipulators, including system identification, kinematic calibration, and friction modeling.
Developed model-based control strategies for dual-arm humanoid robots: Computed Torque Control, friction/gravity compensation, and singular perturbation-based methods.
Designed a real-time inverse kinematics solver achieving 100% success rate with execution time below 40 μs.
Implemented MPC-based motion planning for dual-arm coordination using receding horizon optimization with Acados and CasADi (C++/Python/MATLAB).
Designed and validated control algorithms for parallel mechanisms integrated into humanoid robot ankle and pelvis subsystems.
Co-authored research papers on robotic manipulation and humanoid systems, currently under review at IEEE Transactions on Mechatronics and IROS 2026.

Project Researcher

Motion Control & Applied Robotics Lab (MoCAR), HUST · Hanoi, Vietnam

Oct 2021 – Present · Part-time

Designed safety-critical Lagrangian-based controllers for ship-mounted Stewart platforms under marine disturbances, in collaboration with KIST (Korea).
Developed trajectory generation and tracking control for AUVs with optimal coverage sensor networks (MuJoCo simulation, published in Ocean Engineering).
Designed observer-based hierarchical sliding mode control and CBF-based MPC for ballbot systems; led formation control for multi-robot teams.
Contributed to 10+ publications across IJRNC, IEEE Access, Ocean Engineering, and Results in Engineering.

Projects

R&D Engineer · VinRobotics, Vingroup

Manipulation & Humanoid Robot Development

Sep 2025 – Present · Industrial Robotics · Supervisor: Ph.D. Minh Nhat Vu

Led dynamic parameter identification for robotic manipulators: system identification, kinematic calibration, and friction modeling.
Developed model-based control for dual-arm humanoid robots: Computed Torque Control, gravity/friction compensation, and singular perturbation-based methods.
Designed a real-time inverse kinematics solver achieving 100% success rate with execution time below 40 μs.
Implemented MPC-based motion planning for dual-arm coordination using receding horizon optimization with Acados and CasADi (C++/Python/MATLAB).
Designed and validated control of parallel mechanisms integrated into humanoid robot ankle and pelvis subsystems.
Co-authored research papers under review at IEEE Transactions on Mechatronics and IROS 2026. Video demos: [1] [2]

Member/Researcher · MoCAR Lab, HUST × KIST

Advanced Control of a Ship-Mounted Stewart Platform for Marine Applications

Mar 2025 – Dec 2025 · Marine Robotics & Control Systems · Supervisors: Ph.D. Minh Nhat Vu, Assoc.Prof. Tung Lam Nguyen

Led the initial phase by developing and testing motion control algorithms for trajectory tracking, stabilization, and disturbance rejection.
Implemented a ball-bouncing experiment on the Stewart platform to validate real-time dynamic motion control.
Designed safety-critical and robust control strategies tailored for marine environments, published in Ocean Engineering (2025).
Developed high-fidelity simulation models capturing marine disturbances (waves, currents, ship motion) using full Lagrangian kinematics and dynamics.
Built the full experimental setup: mechanical assembly, Linux real-time kernel configuration, and EtherCAT communication.

Member/Researcher · MoCAR Lab, HUST

Robot Navigation System Integrating Sensor Network and Wireless Communication

Jan 2025 – Dec 2026 · AUV, Optimization & Control · Funded by HUST · Supervisors: Ph.D. Chinh Hoang Duc, Assoc.Prof. Tung Lam Nguyen

Designed a comprehensive MuJoCo simulation environment for AUVs, modeling underwater dynamics, sensor feedback, and environmental disturbances.
Developed trajectory generation and control for AUVs with optimal coverage sensor networks; published in Ocean Engineering (2025).
Implemented and validated advanced control for robust navigation, obstacle avoidance, and trajectory tracking in challenging underwater scenarios.
Integrated sensor network data and wireless communication protocols to evaluate system performance under realistic constraints.

Bachelor Thesis · MoCAR Lab, HUST

Balancing, Motion Planning, and Tracking Control for Ballbot Systems

Jul 2023 – Jul 2024 · Optimization, Robotics & Control · Supervisor: Assoc.Prof. Tung Lam Nguyen

Developed mathematical models and simulation environments for 3D ballbot systems: nonlinear dynamics, trajectory generation, and safety constraints.
Designed observer-based hierarchical sliding mode control and NMPC with CBFs for obstacle avoidance and tilt angle limitation.
Formulated and solved time-optimal trajectory planning problems using flatness theory and optimization techniques.
Integrated extended state observers (ESO) to estimate system uncertainties and coupling effects.
Published in IJRNC (2024) and IEEE Access (2025); received Best Thesis Defense Award at HUST.

Personal Project

Inverted Pendulum — Real-Time Embedded Control

Oct 3–7, 2024 · Embedded & Control Systems

Independently built a complete inverted pendulum system end-to-end in 5 days: control design and hardware configuration.
Used NI MyRIO and LabVIEW with analog circuitry for real-time industrial servo actuation.
Designed and tuned a PID controller for stable upright balancing with a LabVIEW GUI for live monitoring.

Honors & Awards

NTU Research Scholarship — PhD in EEE, Nanyang Technological University (NTU), Singapore
Master, PhD Scholarship Programme — Vingroup Innovation Foundation (VINIF)
Best Thesis Defense Award — Hanoi University of Science and Technology

Academic Activities

Invited Reviewer:

Nonlinear Dynamics, IROS 2026, IEEE RA-L, IEEE RO-MAN, IEEE Access...

Seminars and Talks

2025: "MuJoCo for Advanced Physics Simulation" — Motion Control master course at HUST & MoCAR seminar [slide]
2025: "Underwater Vehicles" — AUV modeling training at MEG-MoCAR [slide]