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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
Journal: Journal of Dynamic Systems, Measurement, and Control
Article Type: Research-Article
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
View Article titled, Global-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis
Click here to open pdf in another window PDF for Global-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis
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
View Paper titled, Desired Compensation Adaptive Robust Control
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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
View Paper titled, Adaptive Robust Precision Motion Control of Single-Rod Hydraulic Actuators With Time-Varying Unknown Inertia: A Case Study
Click here to open pdf in another window PDF for Adaptive Robust Precision Motion Control of Single-Rod Hydraulic Actuators With Time-Varying Unknown Inertia: A Case Study
Topics: Hydraulic actuators, Inertia (Mechanics), Motion control, Control equipment, Actuators, Robots, Stress, Uncertainty, Control algorithms, Dynamics (Mechanics)
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
View Paper titled, On the Design of Adaptive Robust Repetitive Controllers
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Topics: Control equipment, Design, Algorithms, Noise (Sound), Uncertainty, Control algorithms, Linear motors, Motion control, Random noise
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
View Paper titled, Velocity Control of Hydraulic Cylinders With Only Pressure Feedback
Click here to open pdf in another window PDF for Velocity Control of Hydraulic Cylinders With Only Pressure Feedback
Topics: Feedback, Hydraulic cylinders, Pressure, Valves, Flow (Dynamics), Cylinders, Sensors, Construction equipment, Failure, Kinetic energy
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
View Paper titled, Nonlinear Model Based Coordinated Adaptive Robust Control of Electro-Hydraulic Robotic Manipulators: Methods and Comparative Studies
Click here to open pdf in another window PDF for Nonlinear Model Based Coordinated Adaptive Robust Control of Electro-Hydraulic Robotic Manipulators: Methods and Comparative Studies
Topics: Manipulators, Robust control, Hydraulic cylinders, Robots, Control equipment, Couplings, Degrees of freedom, Design, Electric motors, Feedback
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
View Paper titled, Output Feedback Adaptive Robust Control of Linear Motors With Negligible Electrical Dynamics
Click here to open pdf in another window PDF for Output Feedback Adaptive Robust Control of Linear Motors With Negligible Electrical Dynamics
Topics: Dynamics (Mechanics), Feedback, Linear motors, Robust control, Control equipment, Design, Epoxy adhesives, Epoxy resins, Errors, Filters
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
View Paper titled, Performance Improvement of Proportional Directional Control Valves: Methods and Experiments
Click here to open pdf in another window PDF for Performance Improvement of Proportional Directional Control Valves: Methods and Experiments
Topics: Valves, Control equipment, Uncertainty, Dynamic models, Feedback, Flow (Dynamics), Friction, Hydraulic control, Pole placement, Poles (Building)
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
View Paper titled, Motion Control of an Independent Metering System With Polynomial Approximations for Valve Flow Nonlinearity
Click here to open pdf in another window PDF for Motion Control of an Independent Metering System With Polynomial Approximations for Valve Flow Nonlinearity
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
View Paper titled, Designing an Improved Controller for a Pump Direct Driven Electro-Hydraulic System Using a Nonlinear Flow Mapping
Click here to open pdf in another window PDF for Designing an Improved Controller for a Pump Direct Driven Electro-Hydraulic System Using a Nonlinear Flow Mapping
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
View Paper titled, A Strictly Defined Orthogonal Global Task Coordinate Frame and its Contouring Control Application on Biaxial Systems
Click here to open pdf in another window PDF for A Strictly Defined Orthogonal Global Task Coordinate Frame and its Contouring Control Application on Biaxial Systems
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
View Paper titled, High Precision Energy Saving Motion Control of Hydraulic Cylinder Based on Integration of Valves and Pump
Click here to open pdf in another window PDF for High Precision Energy Saving Motion Control of Hydraulic Cylinder Based on Integration of Valves and Pump
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
View Paper titled, Adaptive Robust Control of a 7-DoFs Teleoperation Robot System With Payload Variations and Disturbances
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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
Journal: Journal of Dynamic Systems, Measurement, and Control
Article Type: Research-Article
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
View Article titled, Exponential Stabilization of Fully Actuated Planar Bipedal Robotic Walking With Global Position Tracking Capabilities
Click here to open pdf in another window PDF for Exponential Stabilization of Fully Actuated Planar Bipedal Robotic Walking With Global Position Tracking Capabilities
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
View Paper titled, Adaptive Robust Control of a Pump Control Hydraulic System
Click here to open pdf in another window PDF for Adaptive Robust Control of a Pump Control Hydraulic System
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
Journal: Journal of Manufacturing Science and Engineering
Article Type: Research-Article
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
View Article titled, Modeling and Simulation of Flexible Needle Insertion Into Soft Tissue Using Modified Local Constraints
Click here to open pdf in another window PDF for Modeling and Simulation of Flexible Needle Insertion Into Soft Tissue Using Modified Local Constraints
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
View Paper titled, Adaptive Robust Cascade Force Control of 1-DOF Joint Exoskeleton for Human Performance Augmentation
Click here to open pdf in another window PDF for Adaptive Robust Cascade Force Control of 1-DOF Joint Exoskeleton for Human Performance Augmentation
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
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, V002T33A003, October 28–30, 2015
Paper No: DSCC2015-9638
DOI: https://doi.org/10.1115/DSCC2015-9638
View Paper titled, Adaptive Robust Tip Tracking Control for Single-Link Flexible Beam
Click here to open pdf in another window PDF for Adaptive Robust Tip Tracking Control for Single-Link Flexible Beam
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
View Paper titled, Steerability and Kinematics of Bevel-Tip Flexible Needle
Click here to open pdf in another window PDF for Steerability and Kinematics of Bevel-Tip Flexible Needle
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
Journal: Journal of Manufacturing Science and Engineering
Article Type: Technical Briefs
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
View Article titled, Adaptive Robust Control of Circular Machining Contour Error Using Global Task Coordinate Frame
Click here to open pdf in another window PDF for Adaptive Robust Control of Circular Machining Contour Error Using Global Task Coordinate Frame
Topics: Cutting, Deflection, Design, Errors, Machining, Robust control, Control equipment