Research
Robust Control Theories & Applications
Generalized Disturbance Observer (DOB) Design in 𝓗∞ Framework
Optimal disturbance observer design using an 𝓗∞ approach for LTI SISO Systems
𝓗∞ design of DOB for a class of LTI SISO systems
Design methodology of DOB for LTI MIMO systems in 𝓗∞ framework
Reinterpretation of DOB as an add-on controller
Secondary controller with additional disturbance rejection: motivated by DOB
Nonlinear Disturbance Observer (DOB)-Based Control
Nonlinear DOB-based backstepping control for hydraulic actuation systems
Sliding-mode control (SMC) for nonlinear systems with mismatched disturbances via a DOB
Output based DOB for a class of nonlinear systems
Practical Applications of Robust Controller
Pump controller of electro-hydrostatic actuation (EHA) system with mismatched disturbances
Robust current controller for uncertain permanent magnet synchronous motors (PMSMs)
Motion stabilization of compact optical image stabilization (OIS) systems
Motion stabilization of a turret on a moving platform
High-Performance Actuation
Performance-Improved Electro-Hydraulic Actuation System
Improving the response of an electro-hydrostatic actuation (EHA) circuit
Secondary control part with a high-pressure accumulator
Mode switching using on/off switching valves
PD-based servo-valve controller with a switching function
Series Elastic Actuator (SEA) Using Rubber Compression Mechanism
Compact and embedded encoder
Rubber modeling with Bouc-wen model
Zero-impedance control with rubber-based SEA
Gravity compensation control with rubber-based SEA
Twisted String Actuator with Adaptive Variable-Radius Pulley
Robotic joint with dual twisted-string actuators
Zero impedance control & Position control using time delay controller (TDC)
Applicable for tendon-driven robotic joint
Variable torque mechanism
Intelligent Robotics (including for mobile purposes)
Pneumatic-Actuated Biped Mobile Robot
Hybrid biped robot composed of a motor system and a pneumatic system
Similar to the human appearance
Energy-efficient walking algorithm using pneumatic characteristics
Gait Pattern Generation for Biped Walking
Planning walking patterns for a biped robot with a compiant walking model via a resolution method
Preview control for omnidirectional biped walking via finite-time quadratic programming (QP) method
Exoskeleton (Wearable Robot)
LEXO
UTRCEXO