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Journal Articles

Global-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis

Yan Gu, Yuan Gao, Bin Yao, C. S. George Lee

J. Dyn. Sys., Meas., Control. November 2022, 144(11): 111001.

Paper No: DS-21-1241

DOI: https://doi.org/10.1115/1.4054732

Published Online: August 18, 2022

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Topics: Construction, Control equipment, Design, Dynamics (Mechanics), Errors, Robots, Simulation, Stability, Theorems (Mathematics), Trajectories (Physics)

Proceedings Papers

Desired Compensation Adaptive Robust Control

Bin Yao

Proc. ASME. IMECE98, Dynamic Systems and Control, 569-575, November 15–20, 1998

Paper No: IMECE1998-0303

DOI: https://doi.org/10.1115/IMECE1998-0303

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Topics: Robust control, Design, Nonlinear systems, Uncertainty, Computation, Control equipment, Manipulators, Noise (Sound), Trajectories (Physics), Transients (Dynamics)

Proceedings Papers

Adaptive Robust Precision Motion Control of Single-Rod Hydraulic Actuators With Time-Varying Unknown Inertia: A Case Study

Fanping Bu, Bin Yao

Proc. ASME. IMECE99, Fluid Power Systems and Technology, 131-138, November 14–19, 1999

Paper No: IMECE1999-0780

DOI: https://doi.org/10.1115/IMECE1999-0780

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Topics: Hydraulic actuators, Inertia (Mechanics), Motion control, Control equipment, Actuators, Robots, Stress, Uncertainty, Control algorithms, Dynamics (Mechanics)

Proceedings Papers

Velocity Control of Hydraulic Cylinders With Only Pressure Feedback

Christopher C. DeBoer, Bin Yao

Proc. ASME. IMECE2001, Dynamic Systems and Control, 517-525, November 11–16, 2001

Paper No: IMECE2001/DSC-24565

DOI: https://doi.org/10.1115/IMECE2001/DSC-24565

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Topics: Feedback, Hydraulic cylinders, Pressure, Valves, Flow (Dynamics), Cylinders, Sensors, Construction equipment, Failure, Kinetic energy

Proceedings Papers

On the Design of Adaptive Robust Repetitive Controllers

Bin Yao, Li Xu

Proc. ASME. IMECE2001, Dynamic Systems and Control, 619-627, November 11–16, 2001

Paper No: IMECE2001/DSC-24577

DOI: https://doi.org/10.1115/IMECE2001/DSC-24577

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Topics: Control equipment, Design, Algorithms, Noise (Sound), Uncertainty, Control algorithms, Linear motors, Motion control, Random noise

Proceedings Papers

Nonlinear Model Based Coordinated Adaptive Robust Control of Electro-Hydraulic Robotic Manipulators: Methods and Comparative Studies

Fanping Bu, Bin Yao

Proc. ASME. IMECE2001, Dynamic Systems and Control, 651-659, November 11–16, 2001

Paper No: IMECE2001/DSC-24581

DOI: https://doi.org/10.1115/IMECE2001/DSC-24581

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Topics: Manipulators, Robust control, Hydraulic cylinders, Robots, Control equipment, Couplings, Degrees of freedom, Design, Electric motors, Feedback

Proceedings Papers

Performance Improvement of Proportional Directional Control Valves: Methods and Experiments

Fanping Bu, Bin Yao

Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 1, 297-304, November 5–10, 2000

Paper No: IMECE2000-2315

DOI: https://doi.org/10.1115/IMECE2000-2315

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Topics: Valves, Control equipment, Uncertainty, Dynamic models, Feedback, Flow (Dynamics), Friction, Hydraulic control, Pole placement, Poles (Building)

Proceedings Papers

Output Feedback Adaptive Robust Control of Linear Motors With Negligible Electrical Dynamics

Li Xu, Bin Yao

Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 1, 247-254, November 5–10, 2000

Paper No: IMECE2000-2309

DOI: https://doi.org/10.1115/IMECE2000-2309

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Topics: Dynamics (Mechanics), Feedback, Linear motors, Robust control, Control equipment, Design, Epoxy adhesives, Epoxy resins, Errors, Filters

Proceedings Papers

Motion Control of an Independent Metering System With Polynomial Approximations for Valve Flow Nonlinearity

Chen Li, Zheng Chen, Bin Yao, Litong Lyu, Bobo Helian

Proc. ASME. FPMC2020, BATH/ASME 2020 Symposium on Fluid Power and Motion Control, V001T01A004, September 9–11, 2020

Paper No: FPMC2020-2714

DOI: https://doi.org/10.1115/FPMC2020-2714

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Topics: Flow (Dynamics), Motion control, Polynomial approximation, Valves, Cylinders, Design, Hydraulic actuators, Polynomials, Control algorithms, Control equipment

Proceedings Papers

Designing an Improved Controller for a Pump Direct Driven Electro-Hydraulic System Using a Nonlinear Flow Mapping

Bobo Helian, Zheng Chen, Bin Yao, Can Yang

Proc. ASME. FPMC2019, ASME/BATH 2019 Symposium on Fluid Power and Motion Control, V001T01A049, October 7–9, 2019

Paper No: FPMC2019-1699

DOI: https://doi.org/10.1115/FPMC2019-1699

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Topics: Control equipment, Design, Flow (Dynamics), Pumps, Control systems, Engines, Motors, Pressure, Servomechanisms, Servomotors

Proceedings Papers

A Strictly Defined Orthogonal Global Task Coordinate Frame and its Contouring Control Application on Biaxial Systems

Can Yang, Zheng Chen, Bin Yao, Bobo Helian

Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T16A005, October 8–11, 2019

Paper No: DSCC2019-8988

DOI: https://doi.org/10.1115/DSCC2019-8988

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Topics: Approximation, Control equipment, Errors, Linear motors, Modeling, Robust control, Shapes, System dynamics, Uncertainty

Proceedings Papers

High Precision Energy Saving Motion Control of Hydraulic Cylinder Based on Integration of Valves and Pump

Litong Lyu, Zheng Chen, Bin Yao

Proc. ASME. FPMC2018, BATH/ASME 2018 Symposium on Fluid Power and Motion Control, V001T01A019, September 12–14, 2018

Paper No: FPMC2018-8840

DOI: https://doi.org/10.1115/FPMC2018-8840

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Topics: Hydraulic cylinders, Motion control, Pumps, Valves, Energy conservation, Pressure, Actuators, Dynamic response, Energy consumption, Engineering simulation

Proceedings Papers

Adaptive Robust Control of a 7-DoFs Teleoperation Robot System With Payload Variations and Disturbances

Jinfei Hu, Zheng Chen, Mingxing Yuan, Bin Yao

Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T03A004, September 30–October 3, 2018

Paper No: DSCC2018-9168

DOI: https://doi.org/10.1115/DSCC2018-9168

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Topics: Robots, Robust control, Manipulators, Dynamics (Mechanics), Modeling, Control equipment, Errors, Delays, Design, Dynamic models

Journal Articles

Exponential Stabilization of Fully Actuated Planar Bipedal Robotic Walking With Global Position Tracking Capabilities

Yan Gu, Bin Yao, C. S. George Lee

J. Dyn. Sys., Meas., Control. May 2018, 140(5): 051008.

Paper No: DS-17-1107

DOI: https://doi.org/10.1115/1.4038268

Published Online: December 19, 2017

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Topics: Design, Dynamics (Mechanics), Errors, Robotics, Simulation results, Stability, Trajectories (Physics), Feedback, Control equipment

Proceedings Papers

Adaptive Robust Control of a Pump Control Hydraulic System

Bobo Helian, Zheng Chen, Bin Yao, Yi Yan, Chiang Lee

Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T15A004, October 11–13, 2017

Paper No: DSCC2017-5076

DOI: https://doi.org/10.1115/DSCC2017-5076

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Topics: Hydraulic drive systems, Pumps, Robust control, Dynamics (Mechanics), Control equipment, Uncertainty, Algorithms, Design, Engines, Motors

Journal Articles

Modeling and Simulation of Flexible Needle Insertion Into Soft Tissue Using Modified Local Constraints

Dedong Gao, Yong Lei, Bin Lian, Bin Yao

J. Manuf. Sci. Eng. December 2016, 138(12): 121012.

Paper No: MANU-15-1651

DOI: https://doi.org/10.1115/1.4034134

Published Online: August 8, 2016

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Topics: Biological tissues, Needles, Simulation, Soft tissues

Proceedings Papers

Adaptive Robust Cascade Force Control of 1-DOF Joint Exoskeleton for Human Performance Augmentation

Shan Chen, Bin Yao, Zheng Chen, Xiaocong Zhu, Shiqiang Zhu

Proc. ASME. DSCC2015, Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications, V002T33A006, October 28–30, 2015

Paper No: DSCC2015-9825

DOI: https://doi.org/10.1115/DSCC2015-9825

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Topics: Cascades (Fluid dynamics), Exoskeleton devices, Force control, Control equipment, Machinery, Uncertainty, Algorithms, Dynamics (Mechanics), Robust control, Springs

Proceedings Papers

Adaptive Robust Tip Tracking Control for Single-Link Flexible Beam

Jianfeng Liao, Cong Li, Bin Yao, Xiaocong Zhu

Paper No: DSCC2015-9638

DOI: https://doi.org/10.1115/DSCC2015-9638

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Topics: Tracking control, Linear motors, Uncertainty, Engineering simulation, Robust control, Robustness, Simulation, Steady state, Transients (Dynamics)

Proceedings Papers

Steerability and Kinematics of Bevel-Tip Flexible Needle

Dedong Gao, Yong Lei, Bin Yao, Qiang Li, Huiquan Bai

Proc. ASME. MSEC2015, Volume 2: Materials; Biomanufacturing; Properties, Applications and Systems; Sustainable Manufacturing, V002T03A002, June 8–12, 2015

Paper No: MSEC2015-9268

DOI: https://doi.org/10.1115/MSEC2015-9268

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Topics: Kinematics, Needles, Rotation, Deflection, Patient diagnosis

Journal Articles

Adaptive Robust Control of Circular Machining Contour Error Using Global Task Coordinate Frame

Tyler A. Davis, Yung C. Shin, Bin Yao

J. Manuf. Sci. Eng. February 2015, 137(1): 014501.

Paper No: MANU-13-1068

DOI: https://doi.org/10.1115/1.4028634

Published Online: February 1, 2015

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Topics: Cutting, Deflection, Design, Errors, Machining, Robust control, Control equipment

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Journal citation

NARROW

Global-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis

Desired Compensation Adaptive Robust Control

Adaptive Robust Precision Motion Control of Single-Rod Hydraulic Actuators With Time-Varying Unknown Inertia: A Case Study

Velocity Control of Hydraulic Cylinders With Only Pressure Feedback

On the Design of Adaptive Robust Repetitive Controllers

Nonlinear Model Based Coordinated Adaptive Robust Control of Electro-Hydraulic Robotic Manipulators: Methods and Comparative Studies

Performance Improvement of Proportional Directional Control Valves: Methods and Experiments

Output Feedback Adaptive Robust Control of Linear Motors With Negligible Electrical Dynamics

Motion Control of an Independent Metering System With Polynomial Approximations for Valve Flow Nonlinearity

Designing an Improved Controller for a Pump Direct Driven Electro-Hydraulic System Using a Nonlinear Flow Mapping

A Strictly Defined Orthogonal Global Task Coordinate Frame and its Contouring Control Application on Biaxial Systems

High Precision Energy Saving Motion Control of Hydraulic Cylinder Based on Integration of Valves and Pump

Adaptive Robust Control of a 7-DoFs Teleoperation Robot System With Payload Variations and Disturbances

Exponential Stabilization of Fully Actuated Planar Bipedal Robotic Walking With Global Position Tracking Capabilities

Adaptive Robust Control of a Pump Control Hydraulic System

Modeling and Simulation of Flexible Needle Insertion Into Soft Tissue Using Modified Local Constraints

Adaptive Robust Cascade Force Control of 1-DOF Joint Exoskeleton for Human Performance Augmentation

Adaptive Robust Tip Tracking Control for Single-Link Flexible Beam

Steerability and Kinematics of Bevel-Tip Flexible Needle

Adaptive Robust Control of Circular Machining Contour Error Using Global Task Coordinate Frame

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