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Design, kinematics, simulation, and experiment for a lower-limb rehabilitation robot (2011)
Journal Article
Wang, H., Shi, X., Liu, H., Li, L., Hou, Z., & Yu, H. (2011). Design, kinematics, simulation, and experiment for a lower-limb rehabilitation robot. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 225(6), 860-872. https://doi.org/10.1177/0959651811408978

This paper investigates and proposes a lower-limb rehabilitation robot that is used to help patients with lower-limb paralysis to improve and resume physical functions. The proposed rehabilitation robot has the feature that three rotary joints consis... Read More about Design, kinematics, simulation, and experiment for a lower-limb rehabilitation robot.

Modelling and remote control of an excavator (2010)
Journal Article
Liu, Y., Hasan, M. S., & Yu, H. (2010). Modelling and remote control of an excavator. International Journal of Automation and Computing, 7(3), 349-358. https://doi.org/10.1007/s11633-010-0514-8

This paper presents the results of an on-going project and investigates modelling and remote control issues of an industry excavator. The details of modelling, communication, and control of a remotely controllable excavator are studied. The paper mai... Read More about Modelling and remote control of an excavator.

Co-simulation of wireless networked control systems over mobile ad hoc network using SIMULINK and OPNET (2009)
Journal Article
Hasan, M., Yu, H., Carrington, A., & Yang, T. (2009). Co-simulation of wireless networked control systems over mobile ad hoc network using SIMULINK and OPNET. IET Communications, 3(8), 1297-1310. https://doi.org/10.1049/iet-com.2008.0536

Wireless networked control systems (WNCS) over mobile ad hoc network (MANET) is a new area of research and has many potential applications, for instance, military or rescue missions, exploring hazardous environments, and so on. For performance evalua... Read More about Co-simulation of wireless networked control systems over mobile ad hoc network using SIMULINK and OPNET.

A further study of control for a pendulum-driven cart (2008)
Journal Article
Yu, H., Yang, T., Liu, Y., & Wane, S. (2008). A further study of control for a pendulum-driven cart. International Journal of Advanced Mechatronic Systems, 1(1), 44. https://doi.org/10.1504/ijamechs.2008.020837

Recently, the control of a ‘pendulum-driven cart’has attracted some considerable research interest. One of the reasons is that the mechanism studied is very similar to that of an ‘actively-driven capsule robot’which is still under development and wil... Read More about A further study of control for a pendulum-driven cart.

Analysis and Control of a Capsubot (2008)
Journal Article
Liu, Y., Yu, H., & Yang, T. (2008). Analysis and Control of a Capsubot. IFAC papers online, 41(2), 756-761. https://doi.org/10.3182/20080706-5-kr-1001.00130

In this paper, a special underactuated system – a capsule robot, also called capsubot, is studied to investigate the tracking control issue of underactuated dynamic systems. A seven-step motion strategy of the capsubot is proposed. A trajectory profi... Read More about Analysis and Control of a Capsubot.

Closed-loop tracking control of a pendulum-riven cart-pole underactuated system (2008)
Journal Article
Yu, H., Liu, Y., & Yang, T. (2008). Closed-loop tracking control of a pendulum-riven cart-pole underactuated system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 222(2), 109-125. https://doi.org/10.1243/09596518jsce460

This paper investigates a new modelling and control issue: the tracking control problem of underactuated dynamic systems by using a special example – a pendulum-driven cart-pole system. A dynamic model of a pendulum-driven cart-pole system is firstly... Read More about Closed-loop tracking control of a pendulum-riven cart-pole underactuated system.

Intelligent Learning Algorithms for Active Vibration Control (2007)
Journal Article
Madkour, A., Hossain, M. A., Dahal, K. P., & Yu, H. (2007). Intelligent Learning Algorithms for Active Vibration Control. IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews, 37(5), 1022-1033. https://doi.org/10.1109/tsmcc.2007.900640

This correspondence presents an investigation into the comparative performance of an active vibration control (AVC) system using a number of intelligent learning algorithms. Recursive least square (RLS), evolutionary genetic algorithms (GAs), general... Read More about Intelligent Learning Algorithms for Active Vibration Control.

Theoretical and experimental investigation of the effect of oil aeration on the load-carrying capacity of a hydrodynamic journal bearing (2007)
Journal Article
Goodwin, M. J., Dong, D., Yu, H., & Nikolajsen, J. L. (2007). Theoretical and experimental investigation of the effect of oil aeration on the load-carrying capacity of a hydrodynamic journal bearing. Proceedings of the Institution of Mechanical Engineers, Part J: Journal of Engineering Tribology, 221(7), 779-786. https://doi.org/10.1243/13506501jet279

It is widely assumed that the presence of air bubbles in the lubricating oil of a hydrodynamic bearing gives rise to a reduced load-carrying capacity, because of the high compressibility and low viscosity of the air and its tendency, therefore, to up... Read More about Theoretical and experimental investigation of the effect of oil aeration on the load-carrying capacity of a hydrodynamic journal bearing.

Modeling and control of hybrid machine systems — a five-bar mechanism case (2006)
Journal Article
Yu, H. (2006). Modeling and control of hybrid machine systems — a five-bar mechanism case. International Journal of Automation and Computing, 3(3), 235-243. https://doi.org/10.1007/s11633-006-0235-1

A hybrid machine (HM) as a typical mechantronic device, is a useful tool to generate smooth motion, and combines the motions of a large constant speed motor with a small servo motor by means of a mechanical linkage mechanism, in order to provide a po... Read More about Modeling and control of hybrid machine systems — a five-bar mechanism case.

Modeling delay and packet drop in Networked Control Systems using network simulator NS2 (2005)
Journal Article
Hasan, M. S., Harding, C., Yu, H., & Griffiths, A. (2005). Modeling delay and packet drop in Networked Control Systems using network simulator NS2. International Journal of Automation and Computing, 2(2), 187-194. https://doi.org/10.1007/s11633-005-0187-x

Wireless Networked Control Systems (WNCS) are used to implement a control mechanism over a wireless network that is capable of carrying real-time traffic. This field has drawn enormous attention from current researchers because of its flexibility and... Read More about Modeling delay and packet drop in Networked Control Systems using network simulator NS2.

Novel probability neural network (2005)
Journal Article
Cang, S., & Yu, H. (2005). Novel probability neural network. IEE Proceedings: Vision, Image and Signal Processing, 152(5), 535-544. https://doi.org/10.1049/ip-vis%3A20059021

This paper presents a novel probability neural network (PNN) that can classify the data for both continuous and categorical input data types. A mixture model of continuous and categorical variables is proposed to construct a probability density funct... Read More about Novel probability neural network.

Combined Petri net modelling and AI-based heuristic hybrid search for flexible manufacturing systems—part II. Heuristic hybrid search (2003)
Journal Article
Yu, H., Reyes, A., Cang, S., & Lloyd, S. (2003). Combined Petri net modelling and AI-based heuristic hybrid search for flexible manufacturing systems—part II. Heuristic hybrid search. Computers and Industrial Engineering, 44(4), 545-566. https://doi.org/10.1016/s0360-8352%2802%2900213-9

This two-part paper presents modelling and scheduling approaches of flexible manufacturing systems using Petri nets (PNs) and artificial intelligence (AI)-based heuristic search methods. In Part I, PN-based modelling approaches and basic AI-based heu... Read More about Combined Petri net modelling and AI-based heuristic hybrid search for flexible manufacturing systems—part II. Heuristic hybrid search.

Combined Petri net modelling and AI based heuristic hybrid search for flexible manufacturing systems—part 1. Petri net modelling and heuristic search (2002)
Journal Article
Yu, H., Reyes, A., Cang, S., & Lloyd, S. (2003). Combined Petri net modelling and AI based heuristic hybrid search for flexible manufacturing systems—part 1. Petri net modelling and heuristic search. Computers and Industrial Engineering, 44(4), 527-543. https://doi.org/10.1016/s0360-8352%2802%2900212-7

This two-part paper presents modelling and scheduling approaches for flexible manufacturing systems (FMS) using Petri nets (PNs) and artificial intelligence (AI) based heuristic search methods. In part I, the description of FMS formulation that will... Read More about Combined Petri net modelling and AI based heuristic hybrid search for flexible manufacturing systems—part 1. Petri net modelling and heuristic search.

Decentralised power system load frequency control beyond the limit of diagonal dominance (2002)
Journal Article
Yang, T., Ding, Z., & Yu, H. (2002). Decentralised power system load frequency control beyond the limit of diagonal dominance. International Journal of Electrical Power and Energy Systems, 24(3), 173-184. https://doi.org/10.1016/s0142-0615%2801%2900028-x

The design of decentralised robust load frequency control for interconnected multi-area power systems is studied in this paper. It is shown that although the design can be naturally formulated as a large-scale system decentralised control problem, it... Read More about Decentralised power system load frequency control beyond the limit of diagonal dominance.

Integrating Petri Nets and hybrid heuristic search for the scheduling of FMS (2001)
Journal Article
Reyes, A., Yu, H., Kelleher, G., & Lloyd, S. (2002). Integrating Petri Nets and hybrid heuristic search for the scheduling of FMS. Computers in Industry, 47(1), 123-138. https://doi.org/10.1016/s0166-3615%2801%2900124-5

This paper studies modelling and scheduling of Flexible Manufacturing Systems (FMS) using Petri Nets (PNs) and Artificial Intelligence (AI) based on heuristic search methods. A subclass of PNs, Buffer nets or B-nets is obtained by the systematic synt... Read More about Integrating Petri Nets and hybrid heuristic search for the scheduling of FMS.

Robust Combined Adaptive and Variable Structure Adaptive Control of Robot Manipulators (1998)
Journal Article
Yu, H. (1998). Robust Combined Adaptive and Variable Structure Adaptive Control of Robot Manipulators. Robotica, 16(6), 623-650. https://doi.org/10.1017/s0263574798000563

The paper addresses the robust adaptive control problem of robot manipulators. The dynamic equations of robot manipulators and their fundamental properties that facilitate analysis and control system design are first reviewed. Then the direct, indire... Read More about Robust Combined Adaptive and Variable Structure Adaptive Control of Robot Manipulators.

Variable structure adaptive control of robot manipulators (1997)
Journal Article
Yu, H., & Lloyd, S. (1997). Variable structure adaptive control of robot manipulators. IET Control Theory and Applications, 144(2), 167-176. https://doi.org/10.1049/ip-cta%3A19970803

The two main problems with variable-structure control are control input chattering and the assumption of known parameter uncertainty bounds, the second of which is studied. The robustness of a recently proposed variable-structure control approach wit... Read More about Variable structure adaptive control of robot manipulators.

Combined direct and indirect adaptive control of constrained robots (1997)
Journal Article
Yu, H., & Lloyd, S. (1997). Combined direct and indirect adaptive control of constrained robots. International Journal of Control, 68(5), 955-970. https://doi.org/10.1080/002071797223154

The force tracking error is dependent on both the position tracking error and the estimated parameter error so that, in constrained adaptive robot control, the convergence of the estimated parameter error becomes more important than in unconstrained... Read More about Combined direct and indirect adaptive control of constrained robots.