4 papers
Extremum Seeking Nonovershooting Control of Strict-Feedback Systems Under Unknown Control Direction
Kaixin Lu, Ziliang Lyu, Yanfang Mo +2
This paper addresses the nonovershooting control problem for strict-feedback nonlinear systems with unknown control direction. We propose a method that integrates extremum seeking…
Inverse optimal design of input-to-state stabilizing homogeneous controllers for nonlinear homogeneous systems
Kaixin Lu, Ziliang Lyu, Haoyong Yu
This work studies the inverse optimality of input-to-state stabilizing controllers with input-output stability guarantees for nonlinear homogeneous systems. We formulate a new inve…
TeachingBot: Robot Teacher for Human Handwriting
Zhimin Hou, Cunjun Yu, David Hsu +1
Teaching and learning physical skills often require one-on-one interaction, making it difficult to scale up, as there are not enough human teachers. Robots offer an attractive alte…
Assist-as-needed Hip Exoskeleton Control for Gait Asymmetry Correction via Human-in-the-loop Optimization
Yuepeng Qian, Jingfeng Xiong, Haoyong Yu +1
Gait asymmetry is a significant clinical characteristic of hemiplegic gait that most stroke survivors suffer, leading to limited mobility and long-term negative impacts on their qu…