**Journal Publications
Conference Publications
Thesis and Reports**

Current graduate students among the authors are __underlined__.

Past graduate students among the authors are __double underlined__.

Joint students are *italicized *and either single or double underlined.

If multiple authors are listed, the primary author is designated by an asterisk*.

[J1].
Z.P.Fang*
and B. Yao*, "An exploration on control and
stability augmentation of aircraft in rolling maneuver," *Journal of Beijing
Institute of Aeronautics and Astronautics*, Vol.2, No.2, pp.75-85, 1988 (in
Chinese with English abstract).

[J2].
Z.P.Fang*
and B. Yao*, "Stability analysis of aircraft in
rapid rolling maneuver," *Journal of Flight Dynamics*, No.1, pp.60-70,
1988. (in Chinese with English abstract).

[J3].
S.P.Chan, B.
Yao*, W.B.Gao, and M.Cheng*, "*Robust
impedance control of robot manipulators,*" International Journal of Robotics
and Automation*, Vol.6, No.4, pp.220-227, December 1991.

[J4].
B. Yao*,
W.B.Gao, S.P.Chan, and M.Cheng, "VSC
coordinated control of two manipulator arms in the presence of environmental
constraints," *IEEE Transactions on Automatic Control*, Vol.37, No.11,
pp.1806-1812, November 1992.

[J5].
B. Yao*,
S.P.Chan, and D. Wang, "Unified
formulation of variable structure control schemes for robot manipulators,"
*IEEE Transaction on Automatic Control*, Vol.39, No.2, pp.371--376,
February 1994.

[J6].
B. Yao*,
S.P.Chan, and D. Wang, "VSC motion and force control of robot manipulators in
the presence of environmental constraint uncertainties," *Journal of Robotic
Systems*, Vol.11, No.6, pp.503-515, September 1994.

[J7].
B. Yao*,
S.P.Chan, and D. Wang, "Variable structure adaptive motion and force control of
robot manipulators," *Automatica*, Vol.30, No.9, pp.1473-1477, September
1994.

[J8].
B. Yao*
and M. Tomizuka, "Adaptive control of robot manipulators in constrained motion
-Controller Design," *ASME Journal of Dynamic Systems, Measurement, and
Control*, Vol.117, No.3, pp.320-328, September 1995.

[J9].
B. Yao*
and M. Tomizuka, "Smooth
robust adaptive sliding mode control with guaranteed transient performance,"
*ASME Journal of Dynamic Systems, Measurement, and Control*, Vol.118, No.4
pp.764-775, December 1996.

[J10].
B. Yao*
and M. Tomizuka, "Adaptive
robust control of SISO nonlinear systems in a semi-strict feedback form,"*
Automatica, *Vol.33, No.5, pp.893-900, May 1997.

[J11].
B. Yao*,
M. Almajed, and M. Tomizuka, "**High
performance robust motion control of machine tools: an adaptive robust control
approach and comparative experiments**,"* IEEE/ASME
Transactions on Mechatronics,* Vol.2, No.2, pp.62-76, June 1997.

[J12].
B. Yao*
and M. Tomizuka, "Adaptive
robust motion and force tracking control of robot manipulators in contact with
compliant surfaces with unknown stiffness," *ASME Journal of Dynamic
Systems, Measurement, and Control*, Vol.120, No.2, pp.232-240, June 1998.

[J13].
B. Yao*,
__F. Bu__, * J. T. Reedy*, and G. C. T. Chiu, "Adaptive
robust control of single-rod hydraulic actuators: Theory and Experiments,"

[J14].
B. Yao*
and __L. Xu__, "Observer
based adaptive robust control of a class of nonlinear systems with dynamic
uncertainties*,*" *International Journal of Robust and Nonlinear
Control*, Vol. 11, No.4, pp.335-356, April 2001.

[J15].
B. Yao*,
__F. Bu__, and G. C. T. Chiu, "Nonlinear
adaptive robust control of electro-hydraulic systems driven by double-rod
actuators," *International Journal of Control,* Vol.74, No.8,
pp.761-775, May 2001.

[J16].
__J. Q. Gong__*
and B. Yao*, "Neural
network adaptive robust control of nonlinear systems in normal form,"*
Asian Journal of Control,* Vol. 3, No. 2, pp.96-110, June, 2001.

[J17].
__L. Xu__*
and B. Yao*, "**Output
feedback adaptive robust precision motion control of linear motors**,"
*Automatica,* Vol. 37, No.7, pp.1029-1039, July 2001.

[J18].
__J. Q. Gong__*
and B. Yao*, "Neural
network adaptive robust control of nonlinear systems in semi-strict feedback
form," * Automatica, *Vol. 37, No.8, pp.1149-1160, August 2001.

[J19].
B. Yao*
and M. Tomizuka, "Adaptive
robust control of MIMO nonlinear systems in semi-strict-feedback forms," *Automatica,
*Vol. 37, No. 9, pp.1305-1321, September 2001.

[J20].
__L. Xu__*
and B. Yao*, "**Adaptive
robust precision motion control of linear motors with negligible electrical
dynamics: theory and experiments,**" the *IEEE/ASME
Transactions on Mechatronics,* Vol. 6, No.4, pp.444-452, December 2001.

[J21].
__J. Q. Gong__*
and B. Yao*, "Neural
network adaptive robust control with application to precision motion control of
linear motors," * International Journal of Adaptive Control and Signal
Processing*, Vol. 15, No. 8, pp.837-864, December 2001.

[J22].
B. Yao*
and __L. Xu__, "Adaptive
robust control of linear motors for precision manufacturing," *
International J. of Mechatronics*, Vol.12, No.4, pp.595-616, May 2002.

[J23].
__S. Liu__*
and B. Yao*, "Energy-saving
control of single-rod hydraulic cylinders with programmable valves and improved
working mode selection," the *SAE Transactions – Journal of Commercial
Vehicle, *SAE 2002-01-1343, pp.51-61, 2002.

[J24].
__J.Q. Gong__*,
L. Guo, Ho Lee, and B. Yao, "Modeling
and cancellation of pivot nonlinearity in hard disk drives,*" IEEE
Transaction on Magnetics*, Vol.38, No.5, pp.3560-3565, September 2002.

[J25].
M. Reynolds*,
P.H. Meckl, and B. Yao, "The
Educational impact of modular, open-ended controller design projects,"
*International Journal of Engineering Education*, Vol. 20, No.2,
pp.286-292, 2004.

[J26].
H. Fujimoto*
and B. Yao, "Multirate
adaptive robust control for discrete-time non-minimum phase systems and
application to linear motors," *IEEE/ASME Transactions on Mechatronics*,
Vol.10, No.4, pp.371-377, August 2005.

[J27].
__J.Q. Gong__*
and B. Yao*, "Output
feedback neural network adaptive robust control with application to linear motor
drive system,"** ***ASME Journal of Dynamic Systems, Measurement, and
Control**,* Vol. 128, No.2, pp.227-235, June, 2006.

[J28].
__S. Liu__*
and B. Yao*, "Automated
modeling of cartridge valve flow mapping," *IEEE/ASME Transactions on
Mechatronics, *Vol.11, No.4, pp.381-388, August 2006.

[J29].
B. Yao*
and __L. Xu__, "Output
feedback adaptive robust control of uncertain linear systems with disturbances,"*
ASME Journal of Dynamic Systems, Measurement, and Control,* Vol. 128, No.4,
pp.1-9, December, 2006.

[J30].
__Y. Hong__*
and B. Yao*, "A
globally stable high performance adaptive robust control algorithm with input
saturation for precision motion control of linear motor drive system," the
*IEEE/ASME Transactions on Mechatronics*, Vol.12, No.2, pp.198-207, April
2007.

[J31].
__Y. Hong__*
and B. Yao*, "A
globally stable saturated desired compensation adaptive robust control for
linear motor systems with comparative experiments," *Automatica*,
Vol.43, No.10, pp.1840-1848, 2007.

[J32].
__L. Xu__*
and B. Yao*, "Adaptive
robust control of mechanical systems with nonlinear dynamic friction
compensation," *International Journal of Control*, Vol.81, No.2,
pp.167-176, February, 2008.

[J33].
__S. Liu__*
and B. Yao*, "Coordinate
control of energy-saving programmable valves," *IEEE Transactions on
Control System Technology*, Vol.16, No.1, pp.34 – 45, Jan. 2008.

[J34].
__J. Zhong__*
and B. Yao*, "Adaptive
robust precision motion control of a piezoelectric positioning stage," *
IEEE Transactions on Control System Technology, *Vol.16, No.5,
pp.1039-1046, 2008.

[J35].
X. Zhu*,
G. Tao, B. Yao, and J. Cao, "Adaptive
robust posture control of a pneumatic muscles driven parallel manipulator,"
*Automatica*, Vol. 44, No.9, pp.2248-2257, 2008.

[J36].
X. Zhu*,
G. Tao, B. Yao, and J. Cao, "Adaptive
robust posture control of a pneumatic muscles driven parallel manipulator with
redundancy," *IEEE/ASME Transactions on Mechatronics*, Vol.13, No.4,
pp.441-450, August 2008.

[J37].
__L. Lu__*,
* Z. Chen*, B. Yao, and Q. Wang, "
Desired
compensation adaptive robust control of a linear motor driven precision
industrial gantry with improved cogging force compensation,"

[J38]. __S.
Liu__* and B. Yao*,
"Characterization
and attenuation of sandwiched deadband problem using describing function
analysis and its application to electro-hydraulic systems controlled by
closed-center valves," *ASME J*

[J39]. X. Zhu*,
G. Tao, B. Yao and J. Cao, "Integrated
direct/indirect adaptive robust posture trajectory control of a parallel
manipulator driven by pneumatic muscles," *IEEE Transaction on Control
System Technology*, Vol.17, No.3, pp576-588, May 2009.

[J40]. X. Liu*,
H. Su, B. Yao, and J. Chu, "Adaptive robust
control of nonlinear systems with dynamic uncertainties," *International
Journal of Adaptive Control and Signal Processing*, Vol.23, No.4, pp.353-377,
2009.

[J41]. J.
Cao*, X. Zhu, G. Tao, and B. Yao, "Adaptive
robust tracking control of pressure trajectory based on Kalman filter," *
Chinese Journal of Mechanical Engineering*, Vol.22, No.3, pp433-439, June
2009.

[J42]. __L.
Lu__*, B. Yao*,
Q. Wang, and * Z. Chen*, "Adaptive
robust control of linear motors with dynamic friction compensation using
modified LuGre model,"

[J43]. B.
Yao*, "Desired
compensation adaptive robust control," the *ASME Journal of Dynamic
Systems, Measurement, and Control*. Vol. 131, No.6, #061001, pp.1-7, November
2009.

[J44]. SeungKeun
Cho*, HongZhe Jin, JangMyung Lee, and B. Yao, "Tele-operation
of a mobile robot using a force reflection joystick with sensing mechanism of
rotating magnetic field," *IEEE/ASME Transactions on Mechatronics*,
Vol.15, No.1, pp.17-26, 2010.

[J45]. * C.
Hu**, B. Yao*,
and Q. Wang, "Integrated direct/indirect adaptive robust contouring control of a
biaxial gantry with accurate parameter estimations,"

[J46]. * C.
Hu**, B. Yao*,
and Q. Wang, "Coordinated adaptive robust contouring control of an industrial
biaxial precision gantry with cogging force compensations,"

[J47]. *
C. Hu**, B. Yao*,
and Q. Wang, "Coordinated adaptive robust contouring controller design for an
industrial biaxial precision gantry,"

[J48]. __L.
Lu__*, B. Yao*, "Adaptive
robust control of a class of nonlinear systems in semi-strict feedback form with
non-uniformly detectable unmeasured internal states," *International
Journal of Adaptive Control and Signal Processing*, 2010 (in press and
published online in Wiley InterScience (www.interscience.wiley.com). DOI:
10.1002/acs.1177).

[J49]. A. Mohanty* and B. Yao*, "Integrated direct/indirect adaptive robust
control of hydraulic manipulators with valve deadband," *IEEE/ASME
Transactions on Mechatronics*, 2011 (in press and available on line with
Digital Object Identifier 10.1109/TMECH.2010.2051037).

[J50]. A. Mohanty* and B. Yao*, "Indirect adaptive robust control of hydraulic
manipulators with accurate parameter estimates," *IEEE Transaction on Control
System Technology*, 2011 (in press and available on line with Digital Object
Identifier 10.1109/TCST.2010.2048569) .

[J51].
B. Yao,
* C. Hu*, and Q. Wang,
"Adaptive robust precision motion control of a high-speed
industrial gantry with cogging force compensations,"
the

[J52].
*
C. Hu**,
B. Yao*,
and Q. Wang, "Adaptive
robust precision motion control of systems with unknown input dead-zones: a case
study with comparative experiments,"

[J53].
__S. Gayaka__
and
B. Yao*,
"Output
feedback based adaptive robust fault tolerant control for a class of uncertain
nonlinear systems,"
*Journal of Systems Engineering and
Electronics*,
2011 (accepted in
2010 for the Special Issue on Fault Detection, Diagnosis and Tolerant Control
and in press).

[J54].
__
V. Agrawal__*,
W.J. Peine, and Bin Yao*,
"Modeling
of transmission characteristics across a cable-conduit system,"
the *IEEE Transactions on Robotics,*
pp. -,
2010 (in press).

[J55].
*
T. A. Davis**,
Y. C. Shin, and B. Yao, "Observer-based
adaptive robust control of friction stir welding axial force,"

[C1].
B. Yao*,
W.B.Gao, and S.P.Chan, "Robust constrained motion control of multi-arm robots
holding a common object," Proc*. IEEE Int. Conf. IECON'90*(Industrial
Electronics Conference),, pp.232-237, California, USA, November 27-30, 1990.

[C2].
S.P.Chan* and
B. Yao, "Performance study of GPC for processes with time delays," Proc. *IEEE
Int. Conf. IECON'90*(Industrial Electronics Conference), California, USA,
Nov. 27-30, pp.384-389, 1990.

[C3].
W.B.Gao*
and B. Yao, "Master-helper control strategy to robotics system in tracking an
object subject to environmental constraints," Proc. *IEEE Int. Conf. IECON'90*(Industrial
Electronics Conference), California, pp.226-231, 1990.

[C4].
B. Yao*,
W.B.Gao, S.P.Chan, and M.Cheng, "Robust coordinated control of two manipulator
arms in the presence of environmental constraints," Proc. of *American Control
Conference*, pp.3072-3073, 1991.

[C5].
B. Yao*,
S.P.Chan, and W.B.Gao, "Trajectory control of robot manipulator using variable
structure model-reaching control strategy," Proc. *1991 IEE Control Conference*,
pp.1235-1239, United Kingdom, 25-28 March, 1991

[C6].
S.P.Chan* and
B. Yao, "A model-reaching control design for trajectory tracking," Proc. *IEEE
Int. Conf. IECON'91*(Industrial Electronics Conference), vol.2,
pp.1235-1239,1991

[C7].
B. Yao*,
S.P.Chan, and Danwei Wang, "A unified approach to variable structure control of
robot manipulators," Proc. of 1992 *American Control Conference*,
pp.1282-1286, 1992.

[C8].
B. Yao*
and K.M.Tsang, "Variable structure control of constrained robot manipulators,"
Proc. of *Singapore Int. Conf. on Intelligent Control and Instrumentation*,
pp.1029-1034, 1992.

[C9].
B. Yao*,
S.P.Chan, and Danwei Wang, "Robust motion and force control of robot
manipulators in the presence of environmental constraint uncertainties," Proc.
of *IEEE Conf. on Decision and Control*, pp.1875-1880, 1992.

[C10].
B. Yao*
and M. Tomizuka, "Adaptive coordinated control of multiple manipulators handling
a constrained object," Proc. of *IEEE Conf. on Robotics and Automation*,
pp.624-629, 1993.

[C11].
B. Yao*
and M. Tomizuka, "Adaptive control of robot manipulators in constrained motion,"
Proc. of *American Control Conference*, pp.1128-1132, 1993.

[C12].
B. Yao*
and M. Tomizuka, "Robust adaptive motion and force control of robot manipulators
in unknown stiffness environments," Proc. of *IEEE Conf. on Decision and
Control*, pp.142-147, 1993.

[C13].
B. Yao*
and M. Tomizuka, "Robust desired compensation adaptive control of robot
manipulators with guaranteed transient performance," Proc. of *IEEE Conf. on
Robotics and Automation*, pp.1830- 1836, 1994.

[C14].
B. Yao*
and M. Tomizuka, "Smooth robust adaptive sliding mode control with guaranteed
transient performance," Proc. of *American Control Conference*,
pp.1176-1180, 1994.

[C15].
B. Yao*
and M. Tomizuka, "
Comparative experiments of robust and adaptive control with new robust adaptive
controllers for robot manipulators," Proc. of *IEEE Conf. on Decision and
Control*, pp.1290-1295, 1994.

[C16].
B. Yao*
and M. Tomizuka, "Robust adaptive constrained motion and force control of
manipulators with guaranteed transient performance," Proc. of *IEEE Conf. on
Robotics and Automation*, pp.893-898, 1995.

[C17].
B. Yao*
and M. Tomizuka, "Robust adaptive nonlinear control with guaranteed transient
performance," Proc. of *American Control Conference*, pp.2500-2505, 1995.

[C18].
B. Yao*
and M. Tomizuka, "Adaptive robust control of MIMO nonlinear systems with
guaranteed transient performance," Proc. of *IEEE Conf. on Decision and
Control*, pp.2346-2351, 1995.

[C19].
B. Yao*
and M. Tomizuka, "Adaptive robust control of a class of multivariable nonlinear
systems," *IFAC World Congress*, Vol. F, pp.335--340, 1996.

[C20].
B. Yao*
and M. Tomizuka, "
Adaptive robust motion and force tracking control of robot manipulators in
contact with stiff surfaces,"* ASME WAM, Nonlinear Dynamics and Controls*,
pp.143-150, DE-Vol.91, 1996.

[C21].
B. Yao*,
M. Almajed, and M. Tomizuka, "** **
**
High performance robust motion control of machine tools: an adaptive robust
control approach and comparative experiments**," *American
Control Conference*, pp.2754-2758, 1997.

[C22].
G. T.C. Chiu*
and B. Yao, "Adaptive robust contour tracking of machine tool feed drive
systems-a task coordinate frame approach," *American Control Conference*,
pp.2731-2735, 1997.

[C23].
B. Yao*,
M. Almajed, and M. Tomizuka, "**General
high performance adaptive robust motion control of machine tools**,"
*IEEE/ASME Conf. on Advanced Intelligent *Mechatronics, pp.146-151, 1997.

[C24].
B. Yao*,
"Adaptive
robust control of robot manipulators: Theory and Comparative Experiments,"
The *second CWC on ICIA*, pp.442-447, 1997.

[C25].
B. Yao
*and M. Tomizuka, "Adaptive
robust control of nonlinear systems: effective use of information," *IFAC
Symposium on System Identification*, pp.913-918, 1997.

[C26].
B. Yao*,
G. C. T. Chiu, and J. T. Reedy, "Nonlinear
adaptive robust control of one DOF electro-hydraulic servo systems," *ASME
International Mechanical Engineering Congress and Exposition* (IMECE’97),
Symposium on Fluid Power Systems and Technology, FPST-Vol.4, pp.191-197, 1997.

[C27].
B. Yao*,
"High
performance adaptive robust control of nonlinear systems: a general framework
and new schemes," Proc. of *IEEE Conf. on Decision and Control*,
pp.2489-2494, 1997.

[C28].
B. Yao*,
M. Tomizuka, and J. Litherland, "Implementation
issues and experimental studies of adaptive robust controllers for robot
manipulators," Proc. of *American Control Conference*, pp.2203-2205,
1998.

[C29].
B. Yao*,
J. Zhang, D. Koehler, and J. Litherland, "High
performance swing velocity tracking control of hydraulic excavators," Proc.
of *American Control Conference*, pp.818-822, 1998.

[C30].
B. Yao*,
__F. Bu__, and G. C. T. Chiu, "Adaptive robust motion control of
electro-hydraulic servo systems driven by single-rod actuators," Proc. of *
IFAC Workshop on Motion Control*, pp.57-62, 1998.

[C31].
B. Yao*,
"Desired
compensation adaptive robust control," Proceedings of the ASME Dynamic
Systems and Control Division, DSC-Vol.64, *ASME International Mechanical
Engineering Congress and Exposition* (IMECE’98), pp.569-575, 1998.

[C32].
B. Yao*,
__F. Bu__, and G. C. T. Chiu, "Nonlinear
adaptive robust control of electro-hydraulic servo systems with discontinuous
projections," Proc. of *IEEE Conf. on Decision and Control*,
pp.2265-2270, 1998.

[C33].
B. Yao*,
__F. Bu__, * J. T. Reedy*, and G. C. T. Chiu, "Adaptive
robust control of single-rod hydraulic actuators: Theory and Experiments,"
Proc. of

[C34].
__Li Xu__*
and B. Yao*, "Output
feedback adaptive robust control of uncertain linear systems with large
disturbances," Proc. of *American Control Conference*, pp.556-560,
1999.

[C35].
B. Yao*
and __L. Xu__, "**Adaptive
robust control of linear motors for precision manufacturing**,"
The *14 ^{th} IFAC World Congress*, Vol. A, pp.25-30, 1999.

[C36].
__F. Bu__*
and B. Yao*, "Adaptive
robust precision motion control of single-rod hydraulic actuators with
time-varying unknown inertia: A Case Study," *ASME International
Mechanical Engineering Congress and Exposition *(IMECE), FPST-Vol.6,
pp.131-138, Nashville, 1999.

[C37].
__J. Q. Gong__*
and B. Yao*, "Adaptive robust control without
knowing bounds of parameter variations," Proc. of *IEEE Conf. on Decision and
Control*, pp.3334-3339, 1999.

[C38].
__Li Xu__*
and B. Yao*, "Observer based adaptive robust
control of a class of nonlinear systems with dynamic uncertainties," Proc. of *
IEEE Conf. on Decision and Control*, pp.72-73, 1999.

[C39].
__F. Bu__*
and B. Yao*, "Observer
based coordinated adaptive robust control of robot manipulators driven by
single-rod hydraulic actuators," *IEEE Conference on Robotics and
Automation*, pp.3304-3309, San Francisco, 2000.

[C40].
__J. Q. Gong__*
and B. Yao*, "Neural
network based adaptive robust control of nonlinear systems in normal form,"
*American Control Conference*, pp.1419-1423, 2000.

[C41].
__Li Xu__*
and B. Yao*, "Adaptive
robust control of mechanical systems with nonlinear dynamic friction
compensation," *American Control Conference*, pp.2595-2599, 2000.

[C42].
__L. Xu__*
and B. Yao*, "**Adaptive
robust precision motion control of linear motors with negligible electrical
dynamics: theory and experiments**," Proc of *American
Control Conference*, pp.2583-2587, Chicago, 2000.

[C43].
__F. Bu__*
and B. Yao*, "Nonlinear
adaptive robust control of hydraulic actuators regulated by proportional
directional control valves with deadband and nonlinear flow gains," *
American Control Conference*, pp.4129-4133, Chicago, 2000.

[C44].
__L. Xu__*
and B. Yao*, "**Adaptive
robust precision motion control of linear motors with ripple force compensation:
Theory and Experiments**," *Proceedings of IEEE Conference
on Control Applications*, pp.373-378, 2000 (**Winner
of the Best Student Paper Competition**)

[C45].
__F. Bu__*
and B. Yao*, "**Performance
improvement of proportional directional control valve: Methods and Comparative
Experiments**," *ASME International Mechanical Engineering
Congress and Exposition *(IMECE), DSC-Vol.69-1, pp.297-304, Orlando, 2000.

[C46].
__L. Xu__*
and B. Yao*, " **
Output feedback adaptive robust control of linear motors with negligible
electrical dynamics** ," *ASME International Mechanical
Engineering Congress and Exposition* (IMECE), DSC-Vol.69-1, pp.247--254, 2000
(**Finalist
of the Best Student Paper Competition of the
ASME
Dynamic Systems and Control Division (DSCD)**).

[C47].
__J. Q. Gong__*
and B. Yao*, "Global
stabilization of a class of uncertain systems with saturated adaptive robust
controls," *IEEE Conf. on Decision and Control*, pp.1882-1887, 2000.

[C48].
__L. Xu__*
and B. Yao*, "Coordinated
adaptive robust contour tracking of linear-motor-driven tables in task space"
*IEEE Conf. on Decision and Control*, pp.2430-2435, 2000.

[C49].
__F. Bu__*
and B. Yao*, "
Nonlinear model based coordinated adaptive robust control of electro-hydraulic
robotic manipulators by overparametrizing method,"
*IEEE Conference on Robotics and Automation*, pp.3456-3464, Seoul, Korean,
2001.

[C50].
__J. Q. Gong__*
and B. Yao*, "Output
feedback neural network adaptive robust control of a class of SISO nonlinear
systems," *American Control Conference*, pp.2474-2479, Arlington, 2001.

[C51].
__F. Bu__*
and B. Yao*, "Desired
compensation adaptive robust control of single-rod electro-hydraulic actuator,"*
American Control Conference*, pp.3926-3931, Arlington, 2001.

[C52].
__J. Q. Gong__*
and B. Yao*, "Neural
network adaptive robust control of nonlinear systems in semi-strict feedback
form," *American Control Conference*, pp.3533-3538, Arlington, 2001.

[C53].
Y. Lee*,
__J. Q. Gong__, B. Yao, and S. H. Zak, "Fuzzy adaptive robust control for a
class of nonlinear systems," *American Control Conference*, pp.4040-4045,
Arlington, 2001.

[C54].
__F. Bu__*
and B. Yao*, "Integrated
direct/indirect adaptive robust motion control of single-rod hydraulic actuators
with time-varying unknown inertia," the *IEEE/ASME Conference on Advanced
Intelligent Mechatronics* (AIM), pp.624-629, Como, Italy, 2001

[C55].
__L. Xu__*
and B. Yao*, "Adaptive
robust repetitive control of a class of nonlinear systems in normal form with
applications to motion control of linear motors," the *IEEE/ASME
Conference on Advanced Intelligent Mechatronics *(AIM), pp.527-532, Como,
Italy, 2001

[C56].
B. Yao*
and __L. Xu__, "On
the design of adaptive robust repetitive controllers," the *ASME
International Mechanical Engineers Congress and Exposition* (IMECE),
IMECE01/DSC-3B-4, pp.1-9, 2001

[C57].
__C. Deboer__*
and B. Yao*, "Velocity
control of hydraulic cylinders with only pressure feedback," the *ASME
International Mechanical Engineers Congress and Exposition* (IMECE),
IMECE01/DSC-2B-3, pp.1-9, 2001

[C58].
__F. Bu__*
and B. Yao*, "Nonlinear
model based coordinated adaptive robust control of electro-hydraulic robotic
manipulators: Practical Issues and Comparative Studies," the *ASME
International Mechanical Engineers Congress and Exposition *(IMECE),
IMECE01/DSC-4A-3, pp.1-9, 2001

[C59].
__S. Liu__*
and B. Yao*, "Energy-saving
control of single-rod hydraulic cylinders with programmable valves and improved
working mode selection," *the 2002 International Fluid Power Exposition
*(IFPE): Powerful Forces for Motion Control, *joint IFPE/SAE technical
sessions*, NCFP I02-2.4/SAE OH 2002-01-1343, pp.81-91, March 19-23, Las Vegas
, 2002

[C60].
B. Yao*
and __C. Deboer__, "Energy-saving
adaptive robust motion control of single-rod hydraulic cylinders with
programmable valves," the *American Control Conference*, pp.4819-4824,
Alaska , May, 2002

[C61].
__J. Q. Gong__*,
L. Guo, H. S. Lee, B. Yao, "Modeling and cancellation of pivot nonlinearity in
hard disk drive," the *American Control Conference*, pp.4111-4115, Alaska,
May, 2002

[C62].
B. Yao*
and __S. Liu__, "Energy-saving control of hydraulic systems with novel
programmable valves," the *4 ^{th} World Congress on Intelligent
Control and Automation*, pp.3219-3223, Shanghai, June, 2002

[C63].
B. Yao*
and __A. Palmer__, "Indirect
adaptive robust control of SISO nonlinear systems in semi-strict feedback forms,"
the *15th IFAC World Congress*, Barcelona, Spain, T-Tu-A03-2, pp.1-6, July,
2002

[C64].
__P. Garimella__*
and B. Yao*, "Nonlinear
adaptive robust observer for velocity estimation of hydraulic cylinders using
pressure measurement only," the *ASME International Mechanical Engineers
Congress and Exposition* (IMECE), IMECE02-DSC-32077, pp.1-10, 2002.

[C65].
__J. Q. Gong__*
and B. Yao*, "Indirect
neural network adaptive robust control of linear motor drive system," the *
ASME International Mechanical Engineers Congress and Exposition* (IMECE),
IMECE02-DSC-33420, pp.1-10, 2002.

[C66].
M.C. Reynolds*,
P.H. Meckl, and B. Yao, "The
educational impact of a gantry crane project in an undergradaute controls class,"
*ASME International Mechanical Engineers Congress and Exposition* (IMECE),
IMECE02-DSC-32022, pp.1-6, 2002.

[C67].
__S. Liu__*,
G. Krutz, and B. Yao, "Easy5 model of two position solenoid operated cartridge
valve," *ASME International Mechanical Engineers Congress and Exposition*
(IMECE), IMECE02-DSC-39335, pp.1-6, 2002.

[C68].
B. Yao*
and __R. Dontha__, "Integrated
direct/indirect adaptive robust precision control of linear motor drive systems
with accurate parameter estimates," the *2nd IFAC Conference on
Mechatronic Systems*, pp.633-638, Berkeley, December, 2002.

[C69].
B. Yao*,
"Integrated
direct/indirect adaptive robust control of SISO nonlinear systems in semi-strict
feedback form," the *American Control Conference*, pp.3020-3025, 2003 (**O.
Hugo Schuck Best Paper (Theory) Award **from the**
American Automatic Control Council **in 2004).

[C70].
__P. Garimella__*
and B. Yao*, "Nonlinear
adaptive robust observer design for a class of nonlinear systems," the *
American Control Conference*, pp.4391-4396, 2003.

[C71].
__S. Liu__*
and B. Yao*, "Indirect
adaptive robust control of single-rod hydraulic actuator driven
electro-hydraulic systems," the *IEEE/ASME Conference on Advanced
Intelligent Mechatronics* (AIM), pp.296-301, Kobe, Japan, 2003.

[C72].
__S. Liu__*
and B. Yao*, "Coordinate
control of energy-saving programmable valves," the *ASME International
Mechanical Engineers Congress and Exposition* (IMECE), IMECE03-42668, pp.1-9,
2003.

[C73].
B. Yao*,
"Advanced
motion control: an adaptive robust control framework," the *8th IEEE
International Workshop on Advanced Motion Control*, pp.565-570, 2004.

[C74].
H. Fujimoto*
and B. Yao*, "High performance motion control
of linear motors based on multi-rate adaptive robust control," the *8th IEEE
International Workshop on Advanced Motion Control*, pp.547-552, 2004.

[C75].
__S. Liu__*
and B. Yao*, "Programmable
valves: a solution to bypass deadband problem of electro-hydraulic system,"
the *American Control Conference*, pp.4438-4443, Boston, 2004.

[C76].
B. Yao*,
"Adaptive
robust control: theory and applications to integrated design of intelligent and
precision mechatronic systems," the *2004 International Conference on
Intelligent Mechatronics and Automation* (ICIMA 2004), pp.35-40, 2004.

[C77].
__S. Liu__*
and B. Yao*, "Characterization
and attenuation of sandwiched deadband problem of electro-hydraulic systems
controlled by closed-center valves using describing function analysis,"
the *ASME International Mechanical Engineers Congress and Exposition*
(IMECE), IMECE2004-60946, pp.1-8, 2004

[C78].
__P. Garimella__*
and B. Yao*, "Fault
detection for electro-hydraulic cylinders using adaptive robust observers,,"
the *ASME International Mechanical Engineers Congress and Exposition *
(IMECE), IMECE2004-61718, pp.1-10, 2004.

[C79].
* J. Kwak**,
B. Yao, and A. Bajaj, "Analytical
model development and model reduction for electromechanical brake system,"
the

[C80].
__S. Liu__*
and B. Yao*, "Adaptive
robust control of programmable valves with manufacture supplied flow mapping
only," *the
IEEE Conference on Decision and Control*, pp.1117-1122, 2004.

[C81].
__S. Liu__*
and B. Yao*, "Sliding
mode flow rate observer design," the *Sixth International Conference on
Fluid Power Transmission and Control* (ICFP' 2005) in Hangzhou, China,
pp.69-73, 2005.

[C82].
__S. Liu__*,
B. Yao*, and G. Krutz, "Programmable
valves enable both precision motion control and energy saving," the
*ASAE Agricultural Equipment Technology Conference,* Louisville, Kentucky,
AETC05005, pp.1-10, 2005.

[C83].
__S. Liu__*,
__P. Garimella__*, and B. Yao*,
"Adaptive
robust precision motion control of a flexible system with unmatched model
uncertainties," the *American Control Conference*, pp.750-755,
Portland, 2005.

[C84].
__P. Garimella__* and B. Yao*,
"Model
based fault detection of an electro-hydraulic cylinder," the *American
Control Conference*, pp.484-489, Portland, 2005.

[C85].
__S. Liu__*
and B. Yao*, "Automated
modelling of cartridge valve flow mapping," the *IEEE/ASME Conference on
Advanced Intelligent Mechatronics* (AIM'05), pp.789-794, Monterey,
California, 2005. (**Winner
of the Best Student Paper Competition**)

[C86].
Y. Hong*
and B. Yao*, "A
globally stable high performance adaptive robust control algorithm with input
saturation for precision motion control of linear motor drive system," the
*IEEE/ASME Conference on Advanced Intelligent Mechatronics* (AIM'05),
pp.1623-1628, Monterey, California, 2005.

[C87].
__J. Zhong__*
and B. Yao*, "Adaptive
robust precision control of piezoelectric positioning stages," the *
IEEE/ASME Conference on Advanced Intelligent Mechatronics* (AIM'05),
pp.189-194, Monterey, California, 2005.

[C88].
__J. Zhong__*
and B. Yao*, "Adaptive
robust repetitive control of piezoelectric actuators," the *ASME
International Mechanical Engineers Congress and Exposition* (IMECE),
IMECE2005-81967, pp.1-8, 2005. (**Finalist
of the Best Student Paper Competition **of the**
ASME
Dynamic Systems and Control Division (DSCD)**).

[C89].
__S. Liu__*
and B. Yao*, "On-board
system identification of systems with unknown input nonlinearity and system
parameters," the *ASME International Mechanical Engineers Congress
and Exposition *(IMECE), IMECE2005-79420, pp.1-7, 2005.

[C90].
__B. Xie__*
and B. Yao*, "Multi-objective
optimization of tip tracking control using LMI," the *ASME
International Mechanical Engineers Congress and Exposition* (IMECE),
IMECE2005-81313, pp.1-10, 2005.

[C91].
__P. Garimella__*
and B. Yao*, "Robust
model-based fault detection using adaptive robust observers," the *
44 ^{th} IEEE Conference on Decision and Control (CDC) and European
Control Conference* (ECC), pp.3073-3078, 2005.

[C92].
__P. Garimella__*
and B. Yao*, "An
adaptive robust
framework for model-based
state fault detection," the *American Control Conference*,
pp.5692-5697, 2006.

[C93].
__Y. Hong __
* and B. Yao*,
"A
globally stable saturated desired compensation adaptive robust control for
linear motor systems with comparative experiments," the *American Control
Conference*, pp.4760-4765, 2006.

[C94].
__B. Xie__*
and B. Yao*, "Robust
output feedback stabilization of a class of nonminimum phase nonlinear systems,"
the *American Control Conference*, pp.4981-4986, 2006.

[C95].
__R. Meyer__*
and B. Yao, "Modeling
and simulation of a modern PEM fuel cell system," *the 4th ASME
International Conference on Fuel Cell Science, Engineering and Technology, *
FUELCELL 2006-97067, pp.1-18, Irvine, CA, 2006.

[C96].
X. Zhu*,
G. Tao, J. Cao, and B. Yao, "Adaptive
robust posture control of a pneumatic muscles driven parallel manipulator,"
*IFAC Symposium on Mechatronic Systems*, pp764-769, Heidelberg, Germany,
September, 2006.

[C97].
Y.C. Tuy*, __S.
Liu__, S. Prabhakar, and B. Yao, "Load shedding in stream databases: a control
based approach," In Proceedings of *
the 32 ^{nd} International Conference on Very Large Data Bases*
(VLDB’06), pp.787-798, Seoul, Korea, September, 2006.

[C98].
__R. Meyer__*
and B. Yao*, "Control
of a PEM fuel cell cooling system,"
the *ASME International Mechanical Engineers Congress and Exposition*
(IMECE), IMECE2006-14151, pp.1-8, November, Chicago, 2006.

[C99].
__A. Mohanty__*
and B. Yao*, "Integrated
direct/indirect adaptive robust control (DIARC) of hydraulic robotics arm with
accurate parameter estimates,"
the *ASME International Mechanical Engineers Congress and Exposition*
(IMECE), IMECE2006-14134, pp.1-7, November, Chicago, 2006.

[C100].
__R. Kumar__*
and B. Yao*, "Model
based power split and control for electric energy systems in a hybrid electric
vehicle," the *ASME International Mechanical Engineers Congress and
Exposition* (IMECE), IMECE2006-14588, pp.1-7, November, Chicago, 2006.

[C101].
__B. Xie__*
and B. Yao*, "Adaptive
robust control of a class of non-minimum phase nonlinear systems,"
the *ASME International Mechanical Engineers Congress and Exposition*
(IMECE), IMECE2006-15025, pp.1-10, November, Chicago, 2006.

[C102].
__S. Gayaka__*,
B. Yao, and P.H. Meckl, "A
multivariable approach to EGR-VGT actuator control problem," the *ASME
International Mechanical Engineers Congress and Exposition* (IMECE),
IMECE2006-14311, pp.1-8, November, Chicago, 2006.

[C103].
B. Yao*,
__Y. Hong__, * C. Hu*, and Q. Wang, "Precision
motion control of linear motor drive systems for micro/nano-positioning,"

[C104].
Y.
Tu*, __S.
Liu__, S. Prabhakar, B. Yao, and W. Schroeder. “Using
Control Theory for Load Shedding in Data Stream Management,” Proceedings of
IEEE 23^{rd} International Conference of Data Engineering (ICDE),
pp.1491-1492, Istanbul, Turkey, March 2007.

[C105].
G. Tao, X. Zhu*,
B. Yao, and J. Cao, "Adaptive
robust posture control of a pneumatic muscles driven parallel manipulator with
redundancy," *American Control Conference*, pp3408-3413, New York City,
USA, July, 2007.

[C106].
__S. Gayaka__*,
B. Yao*, and P. Meckl, " Fault detection for
nonlinear systems in presence of input unmodeled dynamics,"
*IEEE/ASME Conference on Advanced Intelligent
Mechatronics*, 1-4244-1264-1/07, pp.1-6, Zurich, September 2007.

[C107].
B. Yao*,
* C. Hu*, and Q. Wang, "Adaptive
robust precision motion control of high-speed linear motors with on-line cogging
force compensations,"

[C108].
__S. Gayaka__*
and B. Yao, "Fault
detection for a class of nonlinear systems in presence of unmodeled dynamics and
parametric uncertainties using adaptive robust observers," the *ASME
International Mechanical Engineers Congress and Exposition* (IMECE),
IMECE2007-41358, pp.1-8, November, Seattle, 2007.

[C109].
__A. Mohanty__* and B. Yao, "
Integrated direct/indirect adaptive robust control of multi-DOF hydraulic
robotic arm," the *ASME International Mechanical Engineers Congress and
Exposition* (IMECE), IMECE2007-41891, pp.1-12, November, Seattle, 2007.

[C110].
__B. Xie__*
and B. Yao, "New approach of tracking control for a class of non-minimum phase
systems," the *ASME International Mechanical Engineers Congress and Exposition*
(IMECE), IMECE2007-42237, pp.1-7, November, Seattle, 2007.

[C111].
__V. Agrawal__*,
W.J. Peine, and Bin Yao, "Modeling
of a closed loop cable-conduit transmission system," the *IEEE
International Conference on Robotics and Automation,* ICRA, pp. 3407–3412,
May, 2008.

[C112].
__S. Gayaka__*
and B. Yao, "Fault
Detection, Identification and Accommodation for an Electro-hydraulic System: An
Adaptive Robust Approach," *Proceedings of the 17 ^{th} IFAC World
Congress*, pp.13815-13820, Seoul, Korea, July, 2008.

[C113].
__L. Lu__*, B.
Yao, Q. Wang, and * Z. Chen*, "Adaptive
Robust Control of Linear Motor Systems with Dynamic Friction Compensation Using
Modified LuGre Model,"

[C114].
__S. Gayaka__*
and B. Yao, "Accommodation
of Partial Actuator Faults using Output Feedback based Adaptive Robust Control,"
*Proceedings of the 2008 IEEE International Conference on Prognostics and
Health Management*, 9778-1-4244-1936-4, pp.1-9, Denver, October, 2008.

[C115].
__L. Lu__*, B.
Yao, * Z. Chen*, and Q. Wang, "Adaptive
Robust Control of a Linear Motor Driven Precision Industrial Gantry with
Improved Cogging Force Compensation,"

[C116].
__S.
Gayaka__*
and B. Yao, "An
adaptive robust scheme for multiple actuator fault accommodation," *
Proceedings of 2008 ASME Dynamic Systems and Control Conference*,
DSCC2008-2237, pp.1-8, Ann Arbor, Michigan, USA, October 20-22, 2008

[C117].
B. Yao*,
"Integrated
mechatronic design of precision and energy saving electro-hydraulic systems,"
*Proceedings of the Seventh International Conference on Fluid Power
Transmission and Control*, pp.360-372, Hangzhou, China, April, 2009.

[C118].
__L. Lu__*, B.
Yao*, "Adaptive
robust control of a class of nonlinear systems in semi-strict feedback form with
non-uniformly detectable unmeasured internal states," *American Control
Conference*, pp4654-4659, Saint Louis, MO, USA, June, 2009

[C119].
B. Yao*,
"Adaptive
robust control – theory and application to precision and energy saving control
of electro-hydraulic systems," *Proceedings of
NSF Engineering Research
and Innovation Conference*,
Grant #0600516, pp.1-15,
Honolulu, Hawaii, June, 2009.

[C120].
X. Zhu*,
J. Cao, G. Tao, and B. Yao, "Synchronization
strategy research of pneumatic servo system based on separate control of
meter-in and meter-out," *IEEE/ASME Conference
on Advanced Intelligent Mechatronics*, pp.24-29, Singapore, July 2009.

[C121].
* C. Hu**,
B. Yao*, and Q. Wang, "Coordinated
contouring controller design for an industrial biaxial linear motor driven
gantry,"

[C122]. J. Guo*, B. Yao,
J. Jiang, and Q. Chen, "Adaptive
robust control for a class of nonlinear uncertain system with unknown input
backlash,"
*Proceedings of ASME Dynamic Systems and
Control Conference*, DSCC2009-2656, pp.1-6, Hollywood, CA, USA,
October, 2009.

[C123].
__S.
Gayaka__*
and B. Yao, "An output
feedback based adaptive robust fault tolerant control scheme for a class of
nonlinear systems," *Proceedings
of ASME Dynamic Systems and Control Conference*, DSCC2009-2740,
pp.1-8, Hollywood, CA, USA, October, 2009.

[C124].
__A.
Mohanty__* and
B. Yao,
"Indirect
adaptive robust control of uncertain systems with unknown asymmetric input
deadband using a smooth inverse," *Proceedings
of ASME Dynamic Systems and Control Conference*, DSCC2009-2771,
pp.1-8, Hollywood, CA, USA, October, 2009.

[C125].* C.
Hu**, B. Yao*, and Q. Wang,
"
Desired compensation adaptive
robust contouring control of an industrial biaxial precision gantry subject to
cogging forces,"

[C126]. __
L. Lu__*,
B.
Yao*, "Set-Membership
Identification Based Adaptive Robust Control of Systems With Unknown Parameter
Bounds,"
*Proceedings of 48th IEEE Conference on Decision and Control,*
pp.847-852, Shanghai, China, December 16-18, 2009.

[C127].J. Guo*, B. Yao, Q.
Chen, and X. Wu,
"Adaptive
Robust Control for Nonlinear System with Unknown Input Backlash,"
*Proceedings of 48th IEEE Conference on Decision and Control,*
pp.7675-7679, Shanghai, China, December 16-18, 2009.

[C128].* C.
Hu**, B. Yao*, and Q. Wang,
"Integrated
direct/indirect adaptive robust control of a class of nonlinear systems preceded
by unknown dead-zone nonlinearity,"

[C129].C. Hu*, B. Yao*, and Q. Wang, "A case study for adaptive robust precision motion control of systems preceded by unknown dead-zones with comparative experiments," The 11th IEEE International Workshop on Advanced Motion Control, pp.383-388, Nagaoka, Japan, March, 2010.

[C130].B. Yao, "Advanced motion control: from classical PID to nonlinear adaptive robust control," The 11th IEEE International Workshop on Advanced Motion Control, pp.815-829, Nagaoka, Japan, March, 2010 (plenary paper).

[C131].V. Agrawal*, W.J. Peine, Bin Yao*, and S. Choi, "Control of cable actuated devices using smooth backlash," the IEEE International Conference on Robotics and Automation, ICRA10, pp. 1074–1079, Anchorage, Alaska, May, 2010.

[C132].L. Lu* and B. Yao*, "Experimental design for identification of nonlinear systems with bounded uncertainties," American Control Conference, pp.4504-4509, Baltimore, MD, USA, June, 2010.

[C133].Min Cheol Lee*, Chi Yen Kim, B. Yao, and William J. Peine, "Reaction force estimation of surgical robot instrument using perturbation observer with SMCSPO algorithm," IEEE/ASME Conference on Advanced Intelligent Mechatronics, pp.181-186, Montreal, Canada, July 6-9, 2010.

[C134].C. Hu*, B. Yao*, and Q. Wang, "Contouring control of biaxial systems based on a new task coordinate frame," IEEE/ASME Conference on Advanced Intelligent Mechatronics, pp.750-755, Montreal, Canada, July 6-9, 2010.

[C135].X. Wang*, S. Wang, and B. Yao, "Adaptive robust control of linear electrical loading system with dynamic friction compensation," IEEE/ASME Conference on Advanced Intelligent Mechatronics, pp.908-913, Montreal, Canada, July 6-9, 2010.

[C136].T. A. Davis*, Y. C. Shin, and B. Yao, "Observer-based
adaptive robust control of friction stir welding axial force," IEEE/ASME
Conference on Advanced Intelligent Mechatronics, pp.1162-1167, Montreal, Canada,
July 6-9, 2010.

**THESIS and REPORTS****
**

Bin Yao, **
Adaptive robust control of nonlinear systems with
application to control of mechanical systems***, University of California at
Berkeley*: *Ph.D. Dissertation*, 1996.

Bin Yao, " **Hydraulic excavator
(HEX) swing control strategy,** " Project report to Caterpillar Inc. , 1997.

C. Deboer and Bin Yao, "**Velocity
Control of Valves Using Pressure Sensors,** " Project report to Caterpillar Inc.,
1999.

**Mechanical Engineering
Homepage | Purdue University Homepage**