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Proceedings Papers

Nonlinear Adaptive Robust Control of One-DOF Electro-Hydraulic Servo Systems

Bin Yao, George T.-C. Chiu, John T. Reedy
Proc. ASME. IMECE97, Fluid Power Systems and Technology, 191-197, November 16–21, 1997
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1997-1301
https://doi.org/10.1115/IMECE1997-1301
View Paper titled, Nonlinear Adaptive Robust Control of One-DOF Electro-Hydraulic Servo Systems
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Topics: Robust control, Servomechanisms, Uncertainty, Cylinders, Inertia (Mechanics), Stress, Control equipment, Design, Dynamics (Mechanics), Friction
Proceedings Papers

Dynamic Modeling and Robust Torque Control of a Discrete Variable Stiffness Actuator

Ziqing Yu, Jiaming Fu, Bin Yao, George Chiu, Richard Voyles, Dongming Gan
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A058, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115235
https://doi.org/10.1115/DETC2023-115235
View Paper titled, Dynamic Modeling and Robust Torque Control of a Discrete Variable Stiffness Actuator
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Topics: Actuators, Dynamic modeling, Dynamic models, Gain scheduling, Robust control, Stiffness, Torque control, Control algorithms, Robots, Force control
Proceedings Papers

Precision Motion Control of an Independent Metering System With an Adaptive Piecewise Polynomial Valve Model

Chen Li, Peishuai Yan, Ruqi Ding, Litong Lyu, Bobo Helian, Zheng Chen, Bin Yao
Proc. ASME. FPMC2023, ASME/BATH 2023 Symposium on Fluid Power and Motion Control, V001T01A029, October 16–18, 2023
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2023-111576
https://doi.org/10.1115/FPMC2023-111576
View Paper titled, Precision Motion Control of an Independent Metering System With an Adaptive Piecewise Polynomial Valve Model
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Topics: Motion control, Polynomials, Valves, Flow (Dynamics), Parameter estimation, Actuators, Flow control, Modeling, Pressure control, Proportional valves
Proceedings Papers

Adaptive Robust Motion and Force Tracking Control of Robot Manipulators in Contact With Stiff Surfaces

Bin Yao, Masayoshi Tomizuka
Proc. ASME. IMECE96, Nonlinear Dynamics and Controls, 143-150, November 17–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1996-0450
https://doi.org/10.1115/IMECE1996-0450
View Paper titled, Adaptive Robust Motion and Force Tracking Control of Robot Manipulators in Contact With Stiff Surfaces
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Topics: Manipulators, Tracking control, Control equipment, Friction, Robots, Equilibrium (Physics), Feedback, Stiffness, Transients (Dynamics), Uncertainty
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
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2022, 144(11): 111001.
Paper No: DS-21-1241
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
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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
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1998-0303
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
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1999-0780
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
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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
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2001/DSC-24577
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
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2001/DSC-24565
https://doi.org/10.1115/IMECE2001/DSC-24565
View Paper titled, Velocity Control of Hydraulic Cylinders With Only Pressure Feedback
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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
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2001/DSC-24581
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
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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
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2000-2309
https://doi.org/10.1115/IMECE2000-2309
View Paper titled, Output Feedback Adaptive Robust Control of Linear Motors With Negligible Electrical Dynamics
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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
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2000-2315
https://doi.org/10.1115/IMECE2000-2315
View Paper titled, Performance Improvement of Proportional Directional Control Valves: Methods and Experiments
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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
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2020-2714
https://doi.org/10.1115/FPMC2020-2714
View Paper titled, Motion Control of an Independent Metering System With Polynomial Approximations for Valve Flow Nonlinearity
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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
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2019-1699
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
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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
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8988
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
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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
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2018-8840
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
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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
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9168
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
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2018, 140(5): 051008.
Paper No: DS-17-1107
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
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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
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5076
https://doi.org/10.1115/DSCC2017-5076
View Paper titled, Adaptive Robust Control of a Pump Control Hydraulic System
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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
Journal: Journal of Manufacturing Science and Engineering
Publisher: ASME
Article Type: Research-Article
J. Manuf. Sci. Eng. December 2016, 138(12): 121012.
Paper No: MANU-15-1651
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
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Topics: Biological tissues, Needles, Simulation, Soft tissues