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Umeå universitet
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Huvudmenyn dold.

Robotik och Reglerteknik Grupp (RCLab)

Forskargrupp Forskningen är fokuserad på utvecklandet av matematiska modeller för reella system, allt från hydrauliska kranar till vätskeflödet i en mänsklig hjärna och användandet av dessa modeller för avläsning, visualisering, förutsägelser och kontroll av viktiga variabler i dessa system.

För mer information om forskningsprojekt och undervisning inom Robotics and Control Lab, vänligen byt språk till engelska.

Forskningsledare

Leonid Freidovich Universitetslektor
E-post
E-post
Telefon
090-786 76 46

Översikt

Medverkande institutioner och enheter vid Umeå universitet

Institutionen för tillämpad fysik och elektronik

Forskningsområde

Elektroteknik och systemteknik

Publikationer

Describing function-based analysis and design of approximated sliding-mode controllers with reduced chattering
Sliding-mode control and variable-structure systems: The state of the art, Springer Science+Business Media B.V. 2023 : 357-381
Rosales, Antonio; Freidovich, Leonid B.; Castillo, Ismael
Estimation of time-varying parameters defining contact of a planar manipulator with a surface
CDC 2022: conference on decision and control, Institute of Electrical and Electronics Engineers (IEEE) 2022 : 1392-1397
Rosales, Antonio; Freidovich, Leonid B.
Accurate Position Regulation of an Electro-Hydraulic Actuator via Uncertainty Compensation-Based Controller
Emerging Trends in Sliding Mode Control: Theory and Application, Springer 2021 : 279-303
Verdés, Ramón I.; Ferreira de Loza, Alejandra; Aguilar, Luis T.; et al.
Analysis of Higher Order Sliding Mode Controllers with Boundary Layer Approximation
2021 60th IEEE Conference on Decision and Control (CDC), IEEE 2021 : 7070-7075
Rosales, Antonio; Castillo, Ismael; Freidovich, Leonid
Almost periodic motion planning and control for double rotary pendulum with experimental validation
Asian Journal of Control, John Wiley & Sons 2020, Vol. 22, (6) : 2434-2443
Wang, Zeguo; Freidovich, Leonid B.; Zhang, Honghua
Constructing Transverse Coordinates for Orbital Stabilization of Periodic Trajectories
2020 American Control Conference (ACC), IEEE 2020 : 836-841
Surov, Maksim; Gusev, Sergei; Freidovich, Leonid B.
Describing-function-based analysis to tune parameters of chattering reducing approximations of Sliding Mode controllers
Control Engineering Practice, Elsevier 2020, Vol. 95
Castillo, Ismael; Freidovich, Leonid B.
Barrier sliding mode control and on-line trajectory generation for the automation of a mobile hydraulic crane
15th International Workshop on Variable Structure Systems (VSS), IEEE 2018 : 162-167
Castillo, Ismael; Freidovich, Leonid B.
Algorithms for finding gaits of locomotive mechanisms: case studies for Gorilla robot brachiation
Autonomous Robots, Vol. 40, (5) : 849-865
Pchelkin, Stepan S.; Shiriaev, Anton S.; Mettin, Uwe; et al.
Beneficially Combining LQR and PID to Control Longitudinal Dynamics of a SmartFly UAV
7TH IEEE ANNUAL INFORMATION TECHNOLOGY, ELECTRONICS & MOBILE COMMUNICATION CONFERENCE IEEE IEMCON-2016
Bagheri, Shahriar; Jafarov, Tural; Freidovich, Leonid; et al.
A dynamic human motion: coordination analysis
Biological Cybernetics, Vol. 109, (1) : 47-62
Pchelkin, Stepan; Shiriaev, Anton S.; Freidovich, Leonid; et al.
Automation of Front End Loaders: Self Leveling Task
20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2015). Luxembourg City, 08 - 11 September 2015 : 1-7
Ong, Iyung; Vazquez, Carlos; Freidovich, Leonid
Automation of slewing motions for forestry cranes
2015 15th International Conference on Control, Automation and Systems (ICCAS), IEEE 2015 : 796-801
Fodor, Szabolcs; Vázquez, Carlos; Freidovich, Leonid
Case study in non-prehensile manipulation: planning and orbital stabilization of one-directional rollings for the "Butterfly" robot
2015 IEEE International Conference on Robotics and Automation (ICRA), Los Alamitos: IEEE Computer Society 2015 : 1484-1489
Surov, Maksim; Shiriaev, Anton; Freidovich, Leonid; et al.
epsilon-Invariant Output Stabilization: Homogeneous Approach and Dead Zone Compensation
2015 IEEE 54th Annual Conference on Decision and Control (CDC) : 6874-6879
Guerra, Matteo; Vazquez, Carlos; Efimov, Denis; et al.
Case study on non-ideal current tracking in amplifiers for voltage-driven manipulators
The 14th Mechatronics Forum International Conference Karlstad, Sweden. June 16-18, 2014
Ong, Iyung; Aranovskiy, Stanislav; Freidovich, Leonid
Controlled invariants and trajectory planning for underactuated mechanical systems
IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers (IEEE) 2014, Vol. 59, (9) : 2555-2561
Shiriaev, Anton S.; Freidovich, Leonid B.; Spong, Mark W.
A remark on Controlled Lagrangian approach
European Journal of Control, Lavoisier 2013, Vol. 19, (6) : 438-444
Shiriaev, Anton S.; Freidovich, Leonid; Spong, Mark W.
Adaptive compensation of disturbances formed as sums of sinusoidal signals with application to an active vibration control benchmark
European Journal of Control, Vol. 19, (4) : 253-265
Aranovskiy, Stanislav; Freidovich, Leonid
Analytic parameterization of stabilizing controllers for the surge subsystem of the Moore-Greitzer compressor model
American Control Conference (ACC), 2013 : 5257-5262
Rubanova, A.; Robertsson, A.; Shiriaev, Anton S.; et al.
Control methods for robotic applications: lecture notes
St. Petersburg, Russia: Saint Petersburg National Research University of Information Technologies Mechanics and Optics 2013
Freidovich, Leonid
Controlled Invariants and Trajectory Planning for Underactuated Mechanical Systems
2013 IEEE 52nd Annual Conference on Decision and Control (CDC), IEEE 2013 : 1628-1633
Shiriaev, Anton S.; Freidovich, Leonid B.; Spong, Mark W.
A remark on controlled Lagrangian approach for completely integrable mechanical systems
4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, Elsevier 2012 : 54-59
Shiriaev, Anton; Freidovich, Leonid B.; Spong, Mark W.
Generating oscillations in inertia wheel pendulum via two-relay controller
International Journal of Robust and Nonlinear Control, Malden: Wiley-Blackwell 2012, Vol. 22, (3) : 318-330
Aguilar, Luis T.; Boiko, Igor M.; Fridman, Leonid M.; et al.
Design-build-test: a project course for engineering students - implementation of assistive functions on a power wheelchair
RiE 2011: 2nd international conference on robotics in education, Vienna: 2011 : 83-90
Rönnbäck, Sven; Schedin, Staffan
Field tests of a roll-over prevention system for quad-bikes
IEEE International Conference on Mechatronics
Rönnbäck, Sven; Johansson, Lars
Analysis of limit-cycle walking for a compass-like biped robot
8th IFAC Symposium on Nonlinear Control Systems, Elsevier 2010 : 1181-1186
Freidovich, Leonid B.; Shiriaev, Anton
Computing a transverse linearization for mechanical systems with two and more passive degrees of freedom
IEEE Transactions on Automatic Control, Vol. 55, (4) : 893-906
Shiriaev, Anton; Freidovich, Leonid; Gusev, Sergey
Gait synthesis for a three-link planar biped walker with one actuator
IEEE International Conference on Robotics and Automation (ICRA), 2010 : 1715-1720
La Hera, Pedro M.; Shiriaev, Anton S.; Freidovich, Leonid B.; et al.
Global stabilization for a class of coupled nonlinear systems with application to active surge control
Dynamics of continuous, discrete and impulsive systems, Watam Press 2010, Vol. 17, (6) : 875-908
Shiriaev, Anton; Freidovich, Leonid; Johansson, Rolf; et al.
A passive 2-DOF walker: hunting for gaits using virtual holonomic constraints
IEEE Transactions on Robotics, Institute of Electrical and Electronics Engineers 2009, Vol. 25, (5) : 1202-1208
Freidovich, Leonid; Mettin, Uwe; Shiriaev, Anton; et al.
Criteria for global stability of coupled systems with application to robust output feedback design for active surge control
2009 IEEE Control applications (CCA) & intelligent control (ISIC) (3 vol) : 1021-1026
Shiriaev, Anton S.; Johansson, Rolf; Robertsson, Anders; et al.
CSE+: path planning amid circles
IEEE International Conference on Robots and Agents, IEEE conference proceedings 2009 : 447-452
Rönnbäck, Sven; Westerberg, Simon; Prorok, Kalle
A passive 2DOF walker: finding gait cycles using virtual holonomic constraints
Proceedings of the 47th IEEE Conference on Decision and Control, IEEE 2008 : 5214-5219
Freidovich, Leonid; Mettin, Uwe; Shiriaev, Anton; et al.
Can we make a robot ballerina perform a pirouette?: orbital stabilization of periodic motions of underactuated mechanical systems.
Annual Reviews in Control, Vol. 32, (2) : 200-211
Shiriaev, Anton; Freidovich, Leonid B.; Manchester, Ian
Circle Sectors för Detection of Oncoming Cars in Range Data
Intelligent Systems, 2008. IS '08. 4th International IEEE Conference  (Volume:2 ), Varna, Bulgaria: IEEE 2008 : 17-40-17-45
Rönnbäck, Sven
An Autonomous Vehicle for a Robot Day
Rönnbäck, Sven; Fredriksson, Håkan; Rosendahl, David; et al.
Discussion on: ``Robustness of PID-controlled manipulators vis-a-vis actuator dynamics and external disturbances''
European Journal of Control, Vol. 13, (6) : 755-759
Freidovich, Leonid; Burkov, Ilya; Arteaga, Marco; et al.
Experimental implementation of stable oscillations of the Furuta pendulum around the upward equilibrium
IEEE/RSJ International conference on intelligent robots and systems, 2007. IROS 2007, Piscataway, N.J: IEEE Operations Center 2007 : 171-176
Freidovich, Leonid B; Shiriaev, Anton S; Manchester, Ian R
Generating human-like motions for an underactuated three-link robot based on the virtual constraints approach
Proceedings of the 46th IEEE conference on decision and control : 5138-5143
Mettin, Uwe; La Hera, Pedro M.; Freidovich, Leonid B.; et al.
A Semi-autonomous Wheelchair Towards User-Centered Design
Lecture notes of the 10th International Conference on Computers Helping People with Special Needs
Rönnbäck, Sven; Piekkari, Juoni; Hyyppä, Kalevi; et al.
Circle sector expansions for on-line exploration
Proceedings of the IEEE International Conference on Robotics and Biomimetics, Kunming: IEEE 2006 : 1227-1232
Rönnbäck, Sven; Berglund, Tomas; Fredriksson, Håkan; et al.
Coordinating control for a fleet of underactuated ships
GROUP COORDINATION AND COOPERATIVE CONTROL : 233-250
Shiriaev, Anton; Robertsson, Anders; Freidovich, Leonid; et al.
Friction compensation based on LuGre model
 45th IEEE Conference on Decision and Control, New York: IEEE 2006 : 3837-3842
Freidovich, Leonid; Robertsson, Anders; Shiriaev, Anton; et al.
A MATLAB/Java Interface to the MICA Wheelchair
Proceedings of the 1st IFAC Symposium on Telematics Applications in Automation and Robotics
Rönnbäck, Sven; Rosendahl, David; Hyyppä, Kalevi
Comparison of logic-based switching control designs for a nonlinear system
PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6 : 1221-1222
Freidovich, Leonid; Khalil, Hassan K.
Development of an INS/GPS Navigation Loop for an UAV
CSEE 2001: Conference Proceedings
Rönnbäck, Sven; Wernersson, Åke
Constrained joint PD plus controller for flexible link robots
A Proceedings volume from the IFAC Workshop, Princeton, New Jersey, USA, 16 - 18 March 2000
Freidovich, Leonid
Active vibration damping using H2-optimal feedback control design for forestry cranes
Fodor, Szabolcs; Freidovich, Leonid
Control and Tuning Procedure of a Cylinder in Mobile Hydraulics
Yung, I; Vázquez, Carlos; Freidovich, Leonid
Senast uppdaterad: 2020-09-09