Leonid Freidovich

Jag är intresserad av att använda analytisk mekanik och matematisk teori för icke-linjära reglersystem till att utveckla nya algoritmer för att designa styrenheter inom robotik och automation.

Vetenskaplig meritering: Docent

0000-0003-0730-9441

Kontakt

leonid.freidovich@umu.se

090-786 76 46, 072-143 37 43

Verksam som

Universitetslektor vid Institutionen för tillämpad fysik och elektronik

X, Håken Gullessons väg 20, Teknikhuset, TEK.B.424 Umeå universitet, 901 87 Umeå

Jag är docent i reglersystem och ansvarig för Robotics and Control Group vid Institutionen för tillämpad fysik och elektronik, Umeå universitet. Min forskningsbakgrund är i klassisk mekanik och matematisk teori för icke-linjära reglersystem. För närvarande forskar jag mest inom robotik och automation, både grundläggande och tillämpad forskning, med tonvikt på att använda matematiskt motiverade nya algoritmer för att designa reglersystem för industriella applikationer.

Forskningsintressen
Reglersystemsteknik; Icke-linjära dynamic system; Robotstyrning och robotteknik; Reglerling för mekaniska system; Rörelseplanering för mekaniska system

Kvalifikationer

Docent i reglersystem, 2010, Naturvetenskapliga fakulteten, Umeå universitet (Umeå, Sverige).
Ph.D. in math, 2005, Institutionen för matematik, Michigan State University (East Lansing, MI, USA), avhandling: "Logic-Based Switching Control of Nonlinear Systems Using High-Gain Observers", handledare: Professor Hassan K. Khalil.
Kandidat, 1999, Institutionen för mekanik och reglerprocesser, St. Petersburg State Technical University (St. Petersburg, Ryssland), avhandling: "Stabilitet och kontroll av robotmanipulatorer", handledare: Professor Anatoli A. Pervozvanski.
M.Sc. i mekanik och teknik, 1996, Institutionen för mekanik och reglerprocesser, St. Petersburg State Technical University (St. Petersburg, Ryssland), handledarna: Dr. Ilya V. Burkov och Professor Anatoli A. Pervozvanski.

On performing non-prehensile rolling manipulations: stabilizing synchronous motions of Butterfly robots

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE 2024 : 12679-12685

Surov, Maksim O.; Pchelkin, Stepan S.; Shiriaev, Anton; et al.

Balancing personalization and privacy: towards personalized saving experience in banking apps for young adults

37th Bled eConference resilience through digital innovation: enabling the twin transition: June 9 – 12, 2024, Bled, Slovenia, conference proceedings, Maribor: University of Maribor 2024 : 453-462

Wahlroos, Alex; Freidovich, Leonid; Söderström, Ulrik; et al.

Timing performance benchmarking of out-of-distribution detection algorithms

Journal of Signal Processing Systems, Springer-Verlag New York 2023, Vol. 95, (12) : 1355-1370

Luan, Siyu; Gu, Zonghua; Saremi, Amin; et al.

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.

Out-of-Distribution Detection for Deep Neural Networks with Isolation Forest and Local Outlier Factor

IEEE Access, Institute of Electrical and Electronics Engineers (IEEE) 2021, Vol. 9 : 132980-132989

Luan, Siyu; Gu, Zonghua; Freidovich, Leonid B.; et al.

Proceedings of the 21st Student Conference in Interaction Technology and Design

Interaction and Media Technology Report Series, 2 / 2021

Mejtoft, Thomas; Söderström, Ulrik; Norberg, Ole; 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

Robust orbital stabilization: A Floquet theory-based approach

International Journal of Robust and Nonlinear Control, John Wiley & Sons 2021, Vol. 31, (16) : 8075-8108

Sætre, Christian Fredrik; Shiriaev, Anton S.; Freidovich, Leonid B.; et al.

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.

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.

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.

Proceedings of the 18th Student Conference in Interaction Technology and Design and the 6th Student Conference in Electronics and Mechatronics

Interaction and Media Technology Report Series, 1/2020

Söderström, Ulrik; Freidovich, Leonid B.; Nordström, Tomas; et al.

Proceedings of the 19th Student Conference in Interaction Technology and Design

Interaction and Media Technology Report Series, 2 / 2020

Söderström, Ulrik; Norberg, Ole; Nordström, Tomas; et al.

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

Proceedings of the 16th Student Conference in Interaction Technology and Design and the 5th Student Conference in Electronics and Mechatronics

Interaction and Media Technology Report Series, 1/2019

Söderström, Ulrik; Freidovich, Leonid B.

Periodic Motion Planning and Control for Double Rotary Pendulum via Virtual Holonomic Constraints

IEEE/CAA Journal of Automatica Sinica, Institute of Electrical and Electronics Engineers (IEEE) 2019, Vol. 6, (1) : 291-298

Wang, Zeguo; Freidovich, Leonid B.; Zhang, Honghua

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.

Periodic motion planning and control for underactuated mechanical systems

International Journal of Control, Vol. 91, (6) : 1350-1362

Wang, Zeguo; Freidovich, Leonid B.; Zhang, Honghua

Method, system and computer program for controlling dynamic manipulations by a robot

Proportional Retarded Controller to Stabilize Underactuated Systems with Measurement Delays: Furuta Pendulum Case Study

Mathematical problems in engineering (Print)

Ortega-Montiel, T.; Villafuerte-Segura, R.; Vázquez-Aguilera, C.; et al.

On Orbital Stabilization for Industrial Manipulators: Case Study in Evaluating Performances of Modified PD plus and Inverse Dynamics Controllers

IEEE Transactions on Control Systems Technology, Vol. 25, (1) : 101-117

Pchelkin, Stepan S.; Shiriaev, Anton S.; Robertsson, Anders; et al.

Robust position control design for a cylinder in mobile hydraulics applications

Control Engineering Practice, Vol. 69 : 36-49

Yung, I.; Vázquez, Carlos; Freidovich, Leonid B.

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.

Practical trajectory designs for semi-automation of forestry cranes

Proceedings of ISR 2016: 47th International Symposium on Robotics, VDE Verlag GmbH 2016 : 1-8

Fodor, Szabolcs; Freidovich, Leonid; Vázquez, Carlos

Interactive on-line trajectories for semi-automation: case study of a forwarder crane

Proceedings of 2016 IEEE International Conference on Automation Science and Engineering (CASE), IEEE 2016 : 928-933

Fodor, Szabolcs; Vázquez, Carlos; Freidovich, Leonid

Towards oscillation reduction in forestry cranes

Proceedings of the Bath/ASME 2016 Symposium on Fluid Power and Motion Control

Fodor, Szabolcs; Vázquez, Carlos; Freidovich, Leonid; et al.

Interval Differentiators: on-line estimation of differentiation accuracy

2016 EUROPEAN CONTROL CONFERENCE (ECC), IEEE 2016 : 1347-1352

Guerra, Matteo; Vazquez, Carlos; Efimov, Denis; et al.

SDP-based approximation of stabilising solutions for periodic matrix Riccati differential equations

International Journal of Control, Vol. 89, (7) : 1396-1405

Gusev, Sergei V.; Shiriaev, Anton S.; Freidovich, Leonid B.

Performance Without Tweaking Differentiators via a PR controller: Furuta Pendulum Case Study

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), Institute of Electrical and Electronics Engineers (IEEE) 2016 : 3777-3782

Ortega, T.; Villafuerte, R.; Vazquez, C.; et al.

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.

Time-Varying Gain Differentiator: A Mobile Hydraulic System Case Study

IEEE Transactions on Control Systems Technology, IEEE 2016, Vol. 24, (5) : 1740-1750

Vazquez, Carlos; Aranovskiy, Stanislav; Freidovich, Leonid; et al.

Input nonlinearity compensation and chattering reduction in a mobile hydraulic forestry crane

Elektrotechnik und Informationstechnik, Springer 2016, Vol. 133, (6) : 248-252

Vázquez, Carlos; Aranovskiy, Stanislav; Freidovich, Leonid B.

Payload Estimation in Front-End Loaders

IEEE 2016

Yung, I.; Freidovich, Leonid; Vazquez, Carlos

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

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.

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

Path-constrained motion analysis: an algorithm to understand human performance on hydraulic manipulators

IEEE Transactions on Human-Machine Systems, Vol. 45, (2) : 187-199

Ortiz Morales, Daniel; La Hera, Pedro; Westerberg, Simon; et al.

A dynamic human motion: coordination analysis

Biological Cybernetics, Vol. 109, (1) : 47-62

Pchelkin, Stepan; Shiriaev, Anton S.; Freidovich, Leonid; et al.

Sufficient Conditions for Dynamic Stabilization of 3-State Moore-Greitzer Compressor Model

2015 IEEE 54th Annual Conference on Decision and Control (CDC) : 4394-4399

Shiriaev, A. S.; Freidovich, Leonid B.; Robertsson, A.; et al.

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.

Robustness of the Moore-Greitzer Compressor Model's Surge Subsystem with New Dynamic Output Feedback Controllers

Proceedings of the 19th World Congress, The International Federation of Automatic Control, Elsevier 2014 : 3690-3695

Andersson, Alina; Robertsson, Anders; Shiriaev, Anton S.; et al.

Static friction modeling and identification for standard mechatronic systems

Proceedings of the 14th Mechatronics Forum International Conference Mechatronics 2014, Karlstad: Karlstads universitet 2014 : 30-36

Fodor, Szabolcs; Freidovich, Leonid

Increasing the level of automation in the forestry logging process with crane trajectory planning and control

Journal of Field Robotics, Wiley-Blackwell 2014, Vol. 31, (3) : 343-363

Ortiz Morales, Daniel; Westerberg, Simon; La Hera, Pedro; et al.

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.

Sliding mode control of a forestry-standard mobile hydraulic system

2014 13TH International Workshop on Variable Structure Systems (VSS)

Vazquez, Carlos; Aranovskiy, Stanislav; Freidovich, Leonid

Second Order Sliding Mode Control of a Mobile Hydraulic Crane

2014 IEEE 53RD ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) : 5530-5535

Vazquez, Carlos; Aranovskiy, Stanislav; Freidovich, Leonid; et al.

Time-varying gain second order sliding mode differentiator

Proceedings of the 19th World Congress, The International Federation of Automatic Control, Elsevier 2014 : 1374-1379

Vázquez, Carlos; Aranovskiy, Stanislav; Freidovich, Leonid

Performance Analysis of Relay Feedback Position Regulators for Manipulators with Coulomb Friction

Proc. 12th European Control Conference, NEW YORK, NY 10017 USA: IEEE 2013 : 3754-3759

Aguilar, Luis T.; Freidovich, Leonid; Orlov, Yury; et al.

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

Visa publikationer i DiVA

Forskargrupper

Forskningsledare

Robotik och Reglerteknik Grupp (RCLab)