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Adaptive neural network tracking control of robot manipulators with prescribed performance (2011)
Journal Article
Xie, X.-L., Hou, Z.-G., Cheng, L., Ji, C., Tan, M., & Yu, H. (2011). Adaptive neural network tracking control of robot manipulators with prescribed performance. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 225(6), 790-797. https://doi.org/10.1177/0959651811398853

In this paper, a controller for robot manipulators is proposed to guarantee the tracking error of the systems bounded by predefined decreasing boundary. In this control scheme, a multi-layer neural network is used to approximate the unknown non-linea... Read More about Adaptive neural network tracking control of robot manipulators with prescribed performance.

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.-N. (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.

Tracking control of a pendulum-driven cart-pole underactuated system (2007)
Presentation / Conference Contribution
Yu, H., Liu, Y., & Yang, T. (2007, October). Tracking control of a pendulum-driven cart-pole underactuated system. Presented at 2007 IEEE International Conference on Systems, Man and Cybernetics, Montreal, QC, Canada

In this paper, we use an example - a pendulum-driven cart-pole system studied in Li et al. (2005) to investigate the tracking control of underactuated dynamic systems. In this paper, we propose a six-step motion strategy of the pendulum driven cart-p... Read More about Tracking control of a pendulum-driven 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.

Simulation of Distributed Wireless Networked Control Systems over MANET using OPNET (2007)
Presentation / Conference Contribution
Hasan, M. S., Yu, H., Griffiths, A., & Yang, T. C. (2007, April). Simulation of Distributed Wireless Networked Control Systems over MANET using OPNET. Presented at 2007 IEEE International Conference on Networking, Sensing and Control, London, UK

This paper investigates the simulation of distributed wireless networked control systems (WNCS) over mobile ad-hoc network (MANET). The simulation model includes multiple plants with a single controller and random node mobility. The widely used netwo... Read More about Simulation of Distributed Wireless Networked Control Systems over MANET using OPNET.

An Interface between MATLAB and OPNET to Allow Simulation of WNCS with MANETs (2007)
Presentation / Conference Contribution
Harding, C., Griffiths, A., & Yu, H. (2007, April). An Interface between MATLAB and OPNET to Allow Simulation of WNCS with MANETs. Presented at 2007 IEEE International Conference on Networking, Sensing and Control, London, UK

MATLAB is a software simulator which is good for simulating the mathematical modeling and feedback control, while OPNET is a software tool which is good for simulating the network communication behavior. However, currently simulating the communicatio... Read More about An Interface between MATLAB and OPNET to Allow Simulation of WNCS with MANETs.

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.

Modelling and control of magnetic suspension systems (2002)
Presentation / Conference Contribution
Yu, H., Yang, T., Rigas, D., & Jayawant, B. (2002, September). Modelling and control of magnetic suspension systems. Presented at 2002 IEEE International Conference on Control Applications, Glasgow, UK

The paper discusses the modelling and control of DC magnetic suspension systems. The dynamic model of magnetic suspension systems is first developed by using the Euler-Lagrange's formulation. The several important properties, which are very useful fo... Read More about Modelling and control of magnetic suspension systems.

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.