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Han Zhao
Hefei University of Technology
65Publications
6H-index
122Citations
Publications 60
Newest
#1Chenming Li (Hefei University of Technology)
#2Han Zhao (Hefei University of Technology)H-Index: 6
Last.Ye-Hwa Chen (Chang'an University)H-Index: 6
view all 4 authors...
Abstract A novel bounded control for nonlinear uncertain systems with inequality constraints is considered. First, a state transformation is applied to satisfy the inequality constraints of the controlled outputs. Therefore, the controlled outputs are within the desired bounds. Next, a diffeomorphism is introduced for the control inputs. Based on that, the control inputs are transformed to be bounded functions. The maximum and minimum of the control inputs can be artificially set by choosing a p...
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#1Yinfei Zhu (Hefei University of Technology)
#2Han Zhao (Hefei University of Technology)H-Index: 6
Last.Zicheng Zhu (Hefei University of Technology)
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The optimal robust control with a fuzzy approach is applied to design the electric helicopter tail reduction system in this article. Firstly, the fuzzy dynamical model of the electric helicopter ta...
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#1Hao Sun (Hefei University of Technology)H-Index: 3
#2Ye-Hwa Chen (Georgia Institute of Technology)H-Index: 6
Last.Han Zhao (Hefei University of Technology)H-Index: 6
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Abstract In this paper, we deal with the control problem of coordinated mechanical systems by configuring the control tasks as servo constraints. For the nominal systems, a Udwadia-Kalaba control scheme is implemented. In the presence of system uncertainties and initial condition deviations from the servo constraints, an adaptive robust control scheme is designed and proved to be able to guarantee the deterministic performance: uniform boundedness and uniform ultimate boundedness. The leakage-ty...
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#1Feifei Qin (Hefei University of Technology)
#2Han Zhao (Hefei University of Technology)H-Index: 6
Last.Yan Zhang (Hefei University of Technology)
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This study designs a control of two-degree of freedom lower limb rehabilitation robot (LLRR) for the patient who needs the proper physical therapy after a spinal cord injury (SCI), stroke, or a surgical operation. The robot manipulator can perform specified passive exercises as well as copy exercise motions and perform them without the physiotherapist. Specifically, the uncertainties including the model uncertainty, initial condition deviation and the external disturbance are also considered. Fi...
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#1Rongrong YuH-Index: 2
#2Ye-Hwa ChenH-Index: 6
Last.Han ZhaoH-Index: 6
view all 4 authors...
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#1Chenming Li (Hefei University of Technology)H-Index: 1
#2Han Zhao (Hefei University of Technology)H-Index: 6
Last.Bin Deng (Hefei University of Technology)H-Index: 2
view all 7 authors...
Source
#1Rongrong Yu (SDUST: Shandong University of Science and Technology)
#2Ye-Hwa Chen (Georgia Institute of Technology)H-Index: 6
Last.Han Zhao (Hefei University of Technology)H-Index: 6
view all 3 authors...
This study addresses the problem of constraint-following control of mobile robots with different categories of constraints by using a hierarchical approach. The approach is proposed based on Udwadia-Kalaba theory. When unconstrained mobile robots with complex generalized coordinates applied structural constraints as well as motion constraints, the number of constraints may be large and difficult to handle. What is more, it is difficult to obtain the dynamic equation as well as the constraint-fol...
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#1Yan Zhang (Hefei University of Technology)
#2Han Zhao (Hefei University of Technology)H-Index: 6
Last.Feifei Qin (Hefei University of Technology)
view all 4 authors...
A novel robust approach of speed control for PMSM is discussed in this paper. Considering the pure electric vehicle (PEV) centralized drive system, shifting process is introduced and electromagnetic speed synchronization is analyzed. At first dynamic modeling is completed based on the structure and working condition. Then a novel nonlinear control algorithm is provided, characterized by error-based and model-based approach inheriting from traditional PID control and robust control. Model uncerta...
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#1Hao Sun (Hefei University of Technology)H-Index: 3
#2Rongrong Yu (Hefei University of Technology)H-Index: 2
Last.Han Zhao (Hefei University of Technology)H-Index: 6
view all 4 authors...
The optimal design problem of adaptive robust control for fuzzy mechanical systems with uncertainty is investigated in this paper. The uncertainty that may be nonlinear and (possibly fast) time-varying is assumed to be bounded, and the knowledge of the bound only lies within a prescribed fuzzy set. Based on the Udwadia and Kalaba's approach, an adaptive robust controller, which is deterministic and is not the usual if-then rules-based is proposed to render the system to follow a class of prespec...
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#1Feifei Qin (Hefei University of Technology)
#2Han Zhao (Hefei University of Technology)H-Index: 6
Last.Shengchao Zhen (Hefei University of Technology)H-Index: 4
view all 3 authors...
This paper presents an explicit dynamic equation of motion of lower limb rehabilitation robot in reference to Udwadia-Kalaba approach and conducts experiment and simulation which verify the effectiveness and availability of the novel approach. Fundamental equation of lower limb rehabilitation robot which considers the resistance of human muscles is deduced according to Udwadia-Kalaba approach. The angle trajectories of hip and knee joints of a healthy person are explicitly obtained by A Wearable...
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