Human Gait Modeling: Dealing with Holonomic Constraints (2008)
Tingshu Hu, Zongli Lin, Mark F. Abel, Paul E. Allaire
Abstract — Dynamical models are fundamental for the study of human gait. This paper presents a complete and systematic approach to deriving control system models for both the single support phase...
Analysis of linear systems in the presence of actuator saturation and L2-disturbances (2004)
Haijun Fang, Zongli Lin, Tingshu Hu
Abstract — This paper presents a method for the analysis and control design of linear systems in the presence of actuator saturation and L 2-disturbances. A simple condition is derived under which...
Stability regions for saturated linear systems via conjugate lyapunov functions (2004)
Tingshu Hu, Zongli Lin, Rafal Goebel, Andrew R. Teel
Abstract — We use a recently developed duality theory for linear differential inclusions (LDIs) to enhance the stability analysis of systems with saturation. Based on the duality theory, the...
Composite quadratic Lyapunov functions for constrained control systems (2003)
The composite quadratic function based on a group of quadratic functions was introduced in our recent pa-per [7]. Some important properties of this Lyapunov function were revealed. We showed that...
Analysis and design of control systems with saturating actuators / (2001)
Thesis (Ph. D.)--University of Virginia, 2001.