selected scholarly activity
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academic article
- Influence of alloying elements on laser powder bed fusion processability of aluminum: A new insight into the oxidation tendency. Additive Manufacturing. 46:102145-102145. 2021
- A Novel Method for Approximating Object Location Error in Bounding Box Detection Algorithms Using a Monocular Camera. IEEE Transactions on Vehicular Technology. 70:8682-8691. 2021
- Electrochemical Impedance Spectroscopy With Practical Rest-Times for Battery Management Applications. IEEE Access. 9:66989-66998. 2021
- Interacting Multiple Model Strategy for Electric Vehicle Batteries State of Charge/Health/ Power Estimation. IEEE Access. 9:109875-109888. 2021
- Low Temperature, Current Dependent Battery State Estimation Using Interacting Multiple Model Strategy. IEEE Access. 9:99876-99889. 2021
- Reduced-Coupling Coestimation of SOC and SOH for Lithium-Ion Batteries Based on Convex Optimization. IEEE Transactions on Power Electronics. 35:12332-12346. 2020
- A Probability Occupancy Grid Based Approach for Real-Time LiDAR Ground Segmentation. IEEE Transactions on Intelligent Transportation Systems. 21:998-1010. 2020
- Online Multiple Maneuvering Vehicle Tracking System Based on Multi-Model Smooth Variable Structure Filter. IEEE Transactions on Intelligent Transportation Systems. 21:603-616. 2020
- A nonlinear second-order filtering strategy for state estimation of uncertain systems. Signal Processing. 155:182-192. 2019
- A review of autonomous vehicle technology landscape. International Journal of Electric and Hybrid Vehicles. 11:320-320. 2019
- Estimation theory and Neural Networks revisited: REKF and RSVSF as optimization techniques for Deep-Learning. Neural Networks. 108:509-526. 2018
- Reliable state of charge and state of health estimation using the smooth variable structure filter. Control Engineering Practice. 77:1-14. 2018
- A Study on Robust Control of DC Bus Voltage for Series Electric Drive Vehicles Without Energy Storage Unit. Qiche Gongcheng/Automotive Engineering. 39:935-942. 2017
- Combined electrochemical, heat generation, and thermal model for large prismatic lithium-ion batteries in real-time applications. Journal of Power Sources. 360:618-633. 2017
- Gaussian filters for parameter and state estimation: A general review of theory and recent trends. Signal Processing. 135:218-238. 2017
- Continuous piecewise-linear, reduced-order electrochemical model for lithium-ion batteries in real-time applications. Journal of Power Sources. 342:351-362. 2017
- Target Tracking Formulation of the SVSF With Data Association Techniques. IEEE Transactions on Aerospace and Electronic Systems. 53:12-25. 2017
- A new adaptive control scheme based on the interacting multiple model (IMM) estimation. KSME International Journal Journal of Mechanical Science and Technology KSME Journal. 30:2759-2767. 2016
- An SVSF-Based Generalized Robust Strategy for Target Tracking in Clutter. IEEE Transactions on Intelligent Transportation Systems. 17:1381-1392. 2016
- Artificial neural network training utilizing the smooth variable structure filter estimation strategy. Neural Computing and Applications. 27:537-548. 2016
- Automotive Internal-Combustion-Engine Fault Detection and Classification Using Artificial Neural Network Techniques. IEEE Transactions on Vehicular Technology. 64:21-33. 2015
- Model-Based Parameter Identification of Healthy and Aged Li-ion Batteries for Electric Vehicle Applications. SAE International Journal of Alternative Powertrains. 4:233-247. 2015
- Reduced-Order Electrochemical Model Parameters Identification and SOC Estimation for Healthy and Aged Li-Ion Batteries Part I: Parameterization Model Development for Healthy Batteries. IEEE Journal of Emerging and Selected Topics in Power Electronics. 2:659-677. 2014
- Reduced-Order Electrochemical Model Parameters Identification and State of Charge Estimation for Healthy and Aged Li-Ion Batteries—Part II: Aged Battery Model and State of Charge Estimation. IEEE Journal of Emerging and Selected Topics in Power Electronics. 2:678-690. 2014
- Kalman and smooth variable structure filters for robust estimation. IEEE Transactions on Aerospace and Electronic Systems. 50:1038-1050. 2014
- Combined cubature Kalman and smooth variable structure filtering: A robust nonlinear estimation strategy. Signal Processing. 96:290-299. 2014
- Sliding mode control of a pneumatic muscle actuator system with a PWM strategy. International Journal of Fluid Power. 15:19-31. 2014
- Robust fault diagnosis of an electro-hydrostatic actuator using the novel dynamic second-order SVSF and IMM strategy. International Journal of Fluid Power. 15:181-196. 2014
- Novel Model-Based Estimators for the Purposes of Fault Detection and Diagnosis. IEEE/ASME Transactions on Mechatronics. 18:1237-1249. 2013
- Kalman filtering strategies utilizing the chattering effects of the smooth variable structure filter. Signal Processing. 93:420-431. 2013
- A New Robust Filtering Strategy for Linear Systems. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. 135:014503-014503. 2013
- Solving pump scheduling problems using parallel multi-objective particle swarm optimization with adaptive mutation. American Water Works Association Annual Conference and Exposition 2012, ACE 2012. 871-890. 2012
- Nonlinear Estimation Techniques Applied on Target Tracking Problems. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. 134. 2012
- THE SMOOTH PARTICLE VARIABLE STRUCTURE FILTER. Transactions of the Canadian Society for Mechanical Engineering. 36:177-193. 2012
- Inner-Loop Control for Electro-Hydraulic Actuation Systems. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. 134. 2012
- Iterative Smooth Variable Structure Filter for Parameter Estimation. ISRN Signal Processing ISRN Signal Processing. 2011:1-18. 2011
- Estimation Strategies for the Condition Monitoring of a Battery System in a Hybrid Electric Vehicle. ISRN Signal Processing ISRN Signal Processing. 2011:1-17. 2011
- Sliding Mode Controller and Filter Applied to an Electrohydraulic Actuator System. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. 133. 2011
- Engine Fault Detection Using Vibration Signal Reconstruction in the Crank-Angle Domain. SAE Technical Papers. 1. 2011
- THE SMOOTH SLIDING MODE CONTROLLER AND FILTER. Control and Intelligent Systems Control and computers. 38:130-139. 2010
- Filtering controller in sliding mode: From the estimation to control. Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering. 223:833-846. 2009
- Sliding mode control for an electrohydraulic actuator system with discontinuous non-linear friction. Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering. 222:799-815. 2008
- A COMPARATIVE STUDY OF A SMOOTH VARIABLE STRUCTURE FILTER AND THE EXTENDED KALMAN FILTER. Transactions of the Canadian Society for Mechanical Engineering. 32:353-370. 2008
- Inner-Loop Control for Electromechanical (EMA) Flight Surface Actuation Systems. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. 130. 2008
- Parameter Estimation Using a Combined Variable Structure and Kalman Filtering Approach. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. 130. 2008
- IDENTIFICATION OF THE NONLINEAR FRICTION CHARACTERISTICS IN A HYDRAULIC ACTUATOR USING THE EXTENDED KALMAN FILTER. Transactions of the Canadian Society for Mechanical Engineering. 32:121-136. 2008
- A smooth variable structure filter for state estimation. Control and Intelligent Systems Control and computers. 35:386-393. 2007
- Update hydrotreating methods for LPG. Hydrocarbon Processing. 86:75-77. 2007
- The Smooth Variable Structure Filter. Proceedings of the IEEE. 95:1026-1059. 2007
- Parameter Identification for a High-Performance Hydrostatic Actuation System Using the Variable Structure Filter Concept. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. 129:229-235. 2007
- Failure monitoring in a high performance hydrostatic actuation system using the extended Kalman filter. Mechatronics. 16:643-653. 2006
- High Precision Hydrostatic Actuation Systems for Micro- and Nanomanipulation of Heavy Loads. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. 128:778-787. 2006
- PARAMETER IDENTIFICATION IN A HIGH PERFORMANCE HYDROSTATIC ACTUATION SYSTEM USING THE UNSCENTED KALMAN FILTER. Transactions of the Canadian Society for Mechanical Engineering. 30:375-390. 2006
- The Extended Variable Structure Filter. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. 128:341-351. 2006
- PERFORMANCE MEASURES OF THE VARIABLE STRUCTURE FILTER. Transactions of the Canadian Society for Mechanical Engineering. 29:267-295. 2005
- Effect of Controller in Reducing Steady-State Error due to Flow and Force Disturbances in the Electrohydraulic Actuator System. International Journal of Fluid Power. 5:57-66. 2004
- Viscous Damping Coefficient and Effective Bulk Modulus Estimation in a High Performance Hydrostatic Actuation System using Extended Kalman Filter. International Journal of Fluid Power. 4:27-34. 2003
- Model identification of a high performance hydrostatic actuation system. American Society of Mechanical Engineers, The Fluid Power and Systems Technology Division (Publication) FPST. 7:113-119. 2000
- Trade-off analysis for the design of a high performance hydrostatic actuation system. American Society of Mechanical Engineers, The Fluid Power and Systems Technology Division (Publication) FPST. 7:105-111. 2000
- Derivation of Design Requirements for Optimization of a High Performance Hydrostatic Actuation System. International Journal of Fluid Power. 1:11-27. 2000
- Design and analysis of a new high performance electrohydraulic actuator. American Society of Mechanical Engineers, The Fluid Power and Systems Technology Division (Publication) FPST. 6:9-15. 1999
- Design of a new high performance electrohydraulic actuator. 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399). 227-232. 1999
- Sliding mode control of an electrically powered industrial robot. IEE Proceedings D: Control Theory and Applications. 139:207-207. 1992
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article
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conference paper
- EIS from Accelerated and Realistic Battery Aging. 2021 IEEE Transportation Electrification Conference & Expo (ITEC). 720-725. 2021
- Battery SoC Estimation from EIS using Neural Nets. 2020 IEEE Transportation Electrification Conference & Expo (ITEC). 588-593. 2020
- Dual Estimation Strategy for New and Aged Electric Vehicles Batteries. 2020 IEEE Transportation Electrification Conference & Expo (ITEC). 579-583. 2020
- Leveraging Thermal Imaging for Autonomous Driving. 2019 IEEE Transportation Electrification Conference and Expo (ITEC). 1-5. 2019
- Lithium-Ion Battery Relaxation Effects. 2019 IEEE Transportation Electrification Conference and Expo (ITEC). 2019
- Investigation of Aluminium and Copper Wound PMSM for Direct–drive Electric Vehicle Application. IOP Conference Series: Materials Science and Engineering. 012002-012002. 2019
- Design and Optimization of An Electric Vehicle with Two Battery Cell Chemistries. 2018 IEEE Transportation Electrification Conference and Expo (ITEC). 506-512. 2018
- Battery state of charge estimation using an Artificial Neural Network. 2017 IEEE Transportation Electrification Conference and Expo (ITEC). 342-349. 2017
- Research on a New Series Powerline Configuration and its DC Voltage Stabilization Control Strategy. Energy Procedia. 2466-2471. 2017
- Dynamic optimization method for speed ratio of electric vehicle with two-speed transmission system. 2016 IEEE International Conference on Power and Renewable Energy (ICPRE). 530-536. 2016
- Comparison of Kalman Filter-based state of charge estimation strategies for Li-Ion batteries. 2016 IEEE Transportation Electrification Conference and Expo (ITEC). 2016
- Development of a sliding mode controller and higher-order structure-based estimator. 2016 IEEE Transportation Electrification Conference and Expo (ITEC). 2016
- Dynamic analysis of a Li-Iron Phosphate cell using the electro-chemical modelling approach. 2016 IEEE Transportation Electrification Conference and Expo (ITEC). 2016
- Modeling, parameterization, and state of charge estimation of Li-Ion cells using a circuit model. 2016 IEEE Transportation Electrification Conference and Expo (ITEC). 2016
- Condition Monitoring of an Electro-Hydrostatic Actuator Using the Dynamic 2nd-Order Smooth Variable Structure Filter. Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications. 2015
- Maneuvering Car Tracking Using the Interacting Multiple Model and the Dynamic 2nd-Order SVSF Method. Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications. 2015
- Robustness comparison of some state estimation methods with an explicit consideration of modeling uncertainties. Canadian Conference on Electrical and Computer Engineering. 925-931. 2015
- State estimation of a faulty actuator using the second-order smooth variable structure filter (The 2ND-order SVSF). Canadian Conference on Electrical and Computer Engineering. 919-924. 2015
- A new Sliding Mode Controller for Electro-Hydraulic Actuator (EHA) applications. 2015 International Workshop on Recent Advances in Sliding Modes (RASM). 1-7. 2015
- A Robust Controller of Multi DOF-Cooperating Planar Robotic Manipulators Using a Tuned PID Approach. ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE). 2014
- Automotive Tracking Technique Using a New IMM Based PDA-SVSF. Volume 12: Transportation Systems. 2014
- Operational Costs Optimization in Water Distribution Systems. ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE). 2014
- A Multi-Target Tracking Formulation of SVSF With the Joint Probabilistic Data Association Technique. Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing. 2014
- Fault Prognosis of Roller Bearings Using the Adaptive Auto-Step Reinforcement Learning Technique. ASME 2014 Dynamic Systems and Control Conference, DSCC 2014. 2014
- State Estimation and Fault Detection of an Electrohydrostatic Actuator. ASME/BATH 2014 Symposium on Fluid Power and Motion Control. 2014
- Cutting Tools Offset in Lathe Machines Using a Modern Heuristic Technique. ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2014. 2014
- Li-Ion Battery SOC Estimation Using Non-Linear Estimation Strategies Based on Equivalent Circuit Models. SAE Technical Papers. 2014
- Switched-Capacitor Cell Balancing: A Fresh Perspective. SAE Technical Papers. 2014
- A fuzzy-smooth variable structure filtering strategy: For state and parameter estimation. 2013 IEEE JORDAN CONFERENCE ON APPLIED ELECTRICAL ENGINEERING AND COMPUTING TECHNOLOGIES (AEECT). 2013
- The Toeplitz-observability smooth variable structure filter. 2013 IEEE JORDAN CONFERENCE ON APPLIED ELECTRICAL ENGINEERING AND COMPUTING TECHNOLOGIES (AEECT). 1-6. 2013
- A New Particle Swarm Optimization and Differential Evolution Technique for Constrained Optimization Problems. Volume 4A: Dynamics, Vibration and Control. 2013
- Fault Detection of an Electrohydrostatic Actuator With the SVSF Time-Varying Boundary Layer Concept. ASME/BATH 2013 Symposium on Fluid Power and Motion Control. 2013
- Optimal operation of water pumping stations. WIT Transactions on Ecology and the Environment. 185-198. 2013
- Adaptive temperature monitoring for battery thermal management. 2013 IEEE Transportation Electrification Conference and Expo (ITEC). 2013
- Target tracking formulation of the SVSF as a probabilistic data association algorithm. Proceedings of the American Control Conference. 6328-6332. 2013
- New novel time-varying and robust smoothing boundary layer width for the smooth variable structure filter. 2013 9th International Symposium on Mechatronics and its Applications (ISMA). 2013
- A Fuzzy-Smooth Variable Structure Filtering Strategy. 2013 IEEE JORDAN CONFERENCE ON APPLIED ELECTRICAL ENGINEERING AND COMPUTING TECHNOLOGIES (AEECT). 2013
- Electro-Hydrostatic Actuator Modeling. Applied Mechanics and Materials. 131-135. 2013
- Li-Ion Battery SoC Estimation Using a Bayesian Tracker. SAE Technical Papers. 2013
- Nonlinear Estimation of Stator Winding Resistance in a Brushless DC Motor. Proceedings of the American Control Conference. 4699-4704. 2013
- A New Energy Optimization Strategy for Pumping Operation in Water Distribution Systems. Volume 6: Energy, Parts A and B. 1613-1621. 2012
- A Wavelet-Based Smooth Variable Structure Filter. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperativ. 649-655. 2012
- A comparative study of Li-ion battery models and nonlinear dual estimation strategies. 2012 IEEE Transportation Electrification Conference and Expo (ITEC). 1-8. 2012
- A signal-based fault detection and classification strategy with application to an internal combustion engine. 2012 IEEE Transportation Electrification Conference and Expo (ITEC). 1-7. 2012
- Mathematical modeling and fault detection and diagnosis of an electrohydrostatic actuator. Proceedings of the American Control Conference. 5152-5159. 2012
- Optimal pump operation for water distribution systems using a new multi-agent Particle Swarm Optimization technique with EPANET. 2012 25th IEEE Canadian Conference on Electrical and Computer Engineering (CCECE). 1-6. 2012
- Combined particle and smooth variable structure filtering for nonlinear estimation problems. Fusion 2011 - 14th International Conference on Information Fusion. 2011
- Fault detection of an engine using a neural network trained by the smooth variable structure filter. Proceedings of the IEEE Conference on Control Applications. 1190-1196. 2011
- Model-based fault detection of a battery system in a hybrid electric vehicle. 2011 IEEE Vehicle Power and Propulsion Conference. 1-6. 2011
- Derivation of an optimal boundary layer width for the smooth variable structure filter. Proceedings of the American Control Conference. 4922-4927. 2011
- Fault detection and diagnosis of an electrohydrostatic actuator using a novel interacting multiple model approach. Proceedings of the American Control Conference. 2011
- Application of the smooth variable structure filter to a multi-target tracking problem. Proceedings of SPIE - The International Society for Optical Engineering. 2011
- Friction Fault Detection of an Electrohydrostatic Actuator. ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2. 319-326. 2011
- A new form of the smooth variable structure filter with a covariance derivation. Proceedings of the IEEE Conference on Decision and Control. 7389-7394. 2010
- A novel interacting multiple model method for nonlinear target tracking. 2010 13th International Conference on Information Fusion. 1-8. 2010
- Comparison of extended and unscented Kalman, particle, and smooth variable structure filters on a bearing-only target tracking problem. Proceedings of SPIE - The International Society for Optical Engineering. 74450b-74450b-13. 2009
- Inner-Loop Control for Electro-Hydraulic (EHA) Actuation Systems. ASME 2009 Dynamic Systems and Control Conference, Volume 2. 1563-1570. 2009
- Sliding Mode Controller and Filter Applied to a Pneumatic McKibben Muscle Actuator. Volume 10: Mechanical Systems and Control, Parts A and B. 539-547. 2009
- Target Tracking Using the Smooth Variable Structure Filter. ASME 2009 Dynamic Systems and Control Conference, Volume 2. 1099-1105. 2009
- Adaptive parameter robust estimation. Proceedings of International Joint Conference on Neural Networks. 2948-+. 2008
- Combined variable structure and Kalman Filtering approach. Proceedings of the American Control Conference. 1855-1862. 2008
- Aerodynamic flutter and flight surface actuation. PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINERING CONGRESS AND EXPOSITION 2007, VOL 9, PTS A-C. 1775-1782. 2008
- Investigation of a High Precision Hydrostatic Actuation System: How Nonlinearities Affect Its Performance. Volume 4: Design, Analysis, Control and Diagnosis of Fluid Power Systems. 175-183. 2007
- Sliding mode control for a model of an electrohydraulic actuator system with discontinuous nonlinear friction. Proceedings of the American Control Conference. 5897-5904. 2006
- A smooth variable structure filter for state estimation. Proceedings of the IASTED International Conference on Modelling, Identification and Control Proceedings of the IASTED International Conference on Intelligent Systems and Control Proceedings of the IASTED International Conference on Modelling, Identification, and Control, MIC. 446-+. 2006
- Sliding mode control for a model of an electrohydraulic actuator system with discontinuous nonlinear friction. Proceedings of the American Control Conference. 780-+. 2006
- Model identification of the electrohydraulic actuator for Small signal inputs. Power Transmission and Motion Control, PTMC 2005. 163-177. 2005
- Inner-Loop Feedback for Deadband Compensation in Electromechanical Flight Surface Actuation Systems. Dynamic Systems and Control, Parts A and B. 221-230. 2005
- Micro-Precision Hydrostatic Actuation System. Fluid Power Systems and Technology. 121-130. 2005
- Sliding Mode Controller and Filter Applied to a Model oft an Electrohydraulic Actuator System. Fluid Power Systems and Technology. 35-44. 2005
- Sliding Mode Controller and filter applied to a model of an Electrohydraulic Actuator System. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. 35-44. 2005
- Neural Network Control of a Bi-Fuel Engine. SAE Technical Papers. 2004
- Parameter Identification for a High Performance Hydrostatic Actuation System Using the Variable Structure Filter Concept. Fluid Power Systems and Technology. 93-101. 2004
- A Comparative Study of the Variable Structure Filter. Fluid Power Systems and Technology. 141-148. 2003
- American Society of Mechanical Engineers, The Fluid Power and Systems Technology Division (Publication) FPST: Foreword. American Society of Mechanical Engineers, The Fluid Power and Systems Technology Division, FPST. 2003
- A Process for Modeling and Analysis of Prototyped Products and its Application to a Variable Fan Drive. SAE Technical Papers. 2002
- Estimation using a new variable structure filter. Proceedings of the American Control Conference. 2937-2942. 2002
- Teaching of Mechatronics Through an Elective Course. Design Engineering. 745-748. 2002
- The Variable Structure Filter. Fluid Power Systems and Technology. 157-165. 2002
- Parameter estimation in a hydrostatic system using extended kalman filter. ASME International Mechanical Engineering Congress and Exposition, Proceedings. 2371-2376. 2001
- Parameter estimation in a hydrostatic system using extended kalman filter. American Society of Mechanical Engineers, The Fluid Power and Systems Technology Division, FPST. 1-6. 2001
- Modeling of a novel fan clutch pneumatic actuation system. 2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II. 422-427. 2001
- Comparison of Hydrostatic and Servovalve Controlled Hydraulic Actutation Systems in Robotics. SAE Technical Papers. 2000
- Model Identification and Analysis of a High Performance Hydrostatic Actuation System. SAE Technical Papers. 2000
- A Mechatronics Approach for the Design of a New High Performance ElectroHydraulic Actuator. SAE Technical Papers. 1999
- Design and control of a reconfigurable industrial hydraulic robot. Proceedings - IEEE International Conference on Robotics and Automation. 2206-2211. 1995
- Sliding mode control of a hydraulic industrial robot. Proceedings of the American Control Conference. 1523-1527. 1995
- Analysis and control of industrial hydraulic robots. Proceedings of the IEEE Conference on Decision and Control. 345-350. 1994
- Hydraulic actuator analysis for industrial robot multivariable control. Proceedings of the American Control Conference. 1003-1007. 1994