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| Start | Działalność naukowa | Dydaktyka | Metoda VFO | |
Maciej Marcin Michałek
Instytut Automatyki i Robotyki
Zakład Sterowania i Robotyki
Politechnika Poznańska
Piotrowo 3A, 60-965 Poznań
pok. 420
tel.: (61) 665-2848
faks: (61) 665-2849
e-mail: maciej.michalek@put.poznan.pl
Działalność naukowa
Obszary badawcze (nauki techniczne): automatyka (sterowanie) i robotyka
Zakres tematyczny: projektowanie i zastosowania algorytmów sterowania, pojazdy przegubowe, robotyka mobilna i systemy nieholonomiczne*' **, sterowanie z aktywnym odrzucaniem zaburzeń, systemy nieminimalnofazowe
* M. Michałek: Sterowanie metodą orientowania pól wektorowych dla podklasy systemów nieholonomicznych (metoda VFO)
Rozprawa doktorska. Politechnika Poznańska, Wydział Informatyki i Zarządzania, Katedra Sterowania i Inżynierii Systemów, Poznań, 2006 [plik.pdf]
** M. Michałek: Kinematyka i sterowanie przegubowych robotów mobilnych w ujęciu kaskadowym
Praca habilitacyjna (jednotematyczny cykl publikacji). Politechnika Poznańska, Wydział Informatyki, Katedra Sterowania i Inżynierii Systemów, Poznań, 2015
Członkostwo IEEE:
Member (od 2009); Senior Member (od 2016); IEEE Control Systems Society (CSS); IEEE Robotics & Automation Society (RAS); IEEE Vehicular Technology Society (VTS); IEEE Systems, Man, and Cybernetics Society (SMC)
Członkostwo w zespołach redakcyjnych:
IEEE Transactions on Cybernetics (2023-), IEEE Transactions on Aerospace and Electronic Systems (2023-), IEEE CSS Conference Editorial Board (2017-), Journal of Intelligent & Robotic Systems (2011-2023), Journal of The Franklin Institute (2020-2022)
Granty naukowo-badawcze:
Publikacje
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Scalable parametric-identification procedure for kinematics of automated N-trailer vehicles
IEEE Transactions on Vehicular Technology, 2024, DOI: 10.1109/TVT.2024.3357886[IEEE Xplore]
Predefined-time VFO control design for unicycle-like mobile robots
Nonlinear Dynamics, 112(5):3591-3603, 2023, DOI: 10.1007/s11071-023-09153-8 [SpringerLink]
VFO control design for a mobile robot in the presence of time and input constraints
2023 27th International Conference on Automation and Robotics (MMAR), On Line Proceedings IEEE, strony 356-361, Międzyzdroje, Poland, 2023 [IEEE Xplore]
Roll-motion stabilizer design for a sounding rocket using the ADRC methodology
2023 27th International Conference on Automation and Robotics (MMAR), On Line Proceedings IEEE, strony 490-495, Międzyzdroje, Poland, 2023 [IEEE Xplore]
Performance improvement of output-feedback tracking control in an augmented ADRC system with a fixed-bandwidth LESO
61st IEEE Conference on Decision and Control (CDC), strony 2991-2996, Cancun, Meksyk, 2022 [IEEE Xplore]
Robust visual servoing for mobile robots with the VFO-ADRC system
17th International Conference on Control, Automation, Robotics and Vision (ICARCV), strony 1-6, Singapur, 2022 [IEEE Xplore]
Scalable procedure of parametric estimation for N-trailer kinematics
IEEE International Conference on Systems, Man, and Cybernetics (IEEE SMC), strony 353-358, Praga, Czechy, 2022 [IEEE Xplore]
Fixed-time VFO control for a unicycle
Prace Naukowe. Elektronika,Tom I, 197:191-200, Oficyna Wydawnicza Politechniki Warszawskiej, Warszawa, 2022
Precise docking at charging stations for Large-Capacity Vehicles: An advanced driver-assistance system for drivers of electric urban buses
IEEE Vehicular Technology Magazine, 16(3):57-65, 2021, DOI: 10.1109/MVT.2021.3086979 [IEEE Xplore] [plik.pdf]
This work was financially supported by the National Centre for Research and Development (NCBR), Poland, as a grant No. POIR.04.01.02-00-0081/17
Reconstruction of admissible joint-references from a prescribed output-reference for the non-Standard and Generalized N-Trailers
European Journal of Control, 58:60-73, 2021, DOI: 10.1016/j.ejcon.2020.11.003 [ScienceDirect]
Robust output-feedback VFO-ADR control of underactuated spatial vehicles in the task of following non-parametrized paths
European Journal of Control, 58:258-277, 2021, DOI: 10.1016/j.ejcon.2020.07.006 [ScienceDirect]
Trailer-Maneuverability in N-Trailer Structures
IEEE Robotics and Automation Letters, 5(4):5105-5112, 2020, DOI: 10.1109/LRA.2020.3005889 [IEEE Xplore] [plik.pdf]
Modular kinematic modelling of articulated buses
IEEE Transactions on Vehicular Technology, 69(8):8381-8394, 2020, DOI: 10.1109/TVT.2020.2999639 [IEEE Xplore] [plik.pdf]
This work was financially supported in part by the National Centre for Research and Development (NCBR), Poland, as a grant No. POIR.04.01.02-00-0081/17
Collision risk reduction of N-trailer agricultural machinery by off-track minimization
Computers and Electronics in Agriculture, 178(105757):1-12, 2020, DOI: 10.1016/j.compag.2020.105757 [ScienceDirect]
This work was financially supported by the CONICYT, Chile, as the grant ANID-REDES Project 180129
Headland turning algorithmization for autonomous N-trailer vehicles in agricultural scenarios
Computers and Electronics in Agriculture, 175(105541):1-13, 2020, DOI: 10.1016/j.compag.2020.105541 [ScienceDirect]
This work was financially supported by the CONICYT, Chile, as the grant ANID-REDES Project 180129
Off-track reduction control for roundabout negotiation with multi-steering N-trailers
21th IFAC World Congress, IFAC-PapersOnLine, 53(2):15687-15692, 2020 [ScienceDirect] [plik.pdf]
This work was financially supported in part by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259
Lining-up stabilizers for pusher and puller articulated vehicles
Advanced, Contemporary Control, strony 917-927, Cham, 2020. Springer International Publishing [SpringerLink]
This work was financially supported in part by the National Centre for Research and Development (NCBR), Poland, as a grant No. POIR.04.01.02-00-0081/17
Forward tracking of complex trajectories with non-Standard N-Trailers of non-minimum-phase kinematics avoiding a jackknife effect
International Journal of Control, 92(11):2547-2560, 2019, DOI: 10.1080/00207179.2018.1448117 [Taylor&FrancisOnline] [plik.pdf]
The Version of Record of this manuscript has been published and is freely available in the International Journal of Control, 06 Mar 2018, https://www.tandfonline.com/doi/abs/10.1080/00207179.2018.1448117
This work was financially supported by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259
Robust output-feedback cascaded tracking controller for spatial motion of anisotropically-actuated vehicles
Aerospace Science and Technology, 92:915-929, 2019, DOI: 10.1016/j.ast.2019.07.012 [ScienceDirect] [ShareLink] [Corrigendum]
Agile maneuvering with intelligent articulated vehicles: a control perspective
10th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2019), a plenary lecture paper, IFAC-PapersOnLine, 52(8):458-473, 2019 [ScienceDirect] [plik.pdf]
Modular approach to compact low-speed kinematic modelling of multi-articulated urban buses for motion algorithmization purposes
2019 IEEE Intelligent Vehicles Symposium (IV), strony 1803-1808, Paris, France, 2019 [IEEE Xplore]
This work was financially supported in part by the National Centre for Research and Development (NCBR), Poland, as a grant No. POIR.04.01.02-00-0081/17
Algorithmization of constrained monotonic maneuvers for an advanced driver assistant system in the intelligent urban buses
2019 IEEE Intelligent Vehicles Symposium (IV), strony 218-224, Paris, France, 2019 [IEEE Xplore]
This work was financially supported in part by the National Centre for Research and Development (NCBR), Poland, as a grant No. POIR.04.01.02-00-0081/17, and in part by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259
VFO controller for set-point visual servoing of unicycle-like mobile robots equipped with an on-board camera of uncertain depth factor
12th International Workshop on Robot Motion and Control (RoMoCo), strony 184-190, Poznań, Poland, 2019 [IEEE Xplore]
Scaling of commanded signals in a cascade control system addressing velocity and acceleration limitations of robotic UAVs
21st IFAC Symposium on Automatic Control in Aerospace ACA 2019, IFAC PapersOnLine, 52(12):73-78, 2019 [ScienceDirect] [plik.pdf]
A G3-continuous extend procedure for path planning of mobile robots with limited motion curvature and state constraints
Applied Sciences, 8(11), 2127, 2018, DOI: 10.3390/app8112127 [MDPILink] [plik.pdf]
This work was financially supported by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259
Algorithmization of constrained motion for car-like robots using the VFO control strategy with parallelized planning of admissible funnels
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), strony 6945-6951, Madrid, Spain, 2018 [IEEE Xplore]
This work was financially supported by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259
Safe cooperative merging strategy for platoon forming by a constrained multi-vehicle system
2018 IEEE Conference on Control Technology and Applications (CCTA), strony 1064-1071, Copenhagen, Denmark, 2018 [IEEE Xplore]
This work was financially supported by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259
VFO path following control strategy for constrained motion of car-like robots with invariant funnels computed using the SOS optimization
2018 IEEE Conference on Control Technology and Applications (CCTA), strony 94-100, Copenhagen, Denmark, 2018 [IEEE Xplore]
This work was financially supported by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259
Computing the admissible reference state-trajectories for differentially non-flat kinematics of non-Standard N-Trailers
2018 European Control Conference (ECC), strony 551-556, Limassol, Cyprus, 2018 [IEEE Xplore]
This work was financially supported by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259
Special issue on motion strategies for underactuated robotic vehicles in the presence of constraints. Guest editorial
Journal of Intelligent & Robotic Systems, 89(1-2):3-5, 2018, DOI: 10.1007/s10846-017-0568-8 [SpringerLink] [plik.pdf]
VFO path following control with guarantees of positionally constrained transients for unicycle-like robots with constrained control input
Journal of Intelligent & Robotic Systems, 89(1-2):191-210, 2018, DOI: 10.1007/s10846-017-0482-0 [SpringerLink] [SharedIt] [plik.pdf]
This work was financially supported by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259
The VFO-driven motion planning and feedback control in polygonal worlds for a unicycle with bounded curvature of motion
Journal of Intelligent & Robotic Systems, 89(1-2):265-297, 2018, DOI: 10.1007/s10846-017-0555-0 [SpringerLink] [plik.pdf]
This work was financially supported by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259
Machine-learning based approaches for self-tuning trajectory tracking controllers under terrain changes in repetitive tasks
Engineering Applications of Artificial Intelligence, 67:63-80, 2018, DOI: 10.1016/j.engappai.2017.09.013 [ScienceDirect]
Skalowalny algorytm planowania ścieżek dla przegubowych robotów typu SNT z ograniczeniami konfiguracyjnymi
Postępy robotyki, wolumen 196 serii Prace naukowe. Elektronika, K. Tchoń, C. Zieliński, redaktorzy, strony 273-282. Oficyna Wydawnicza Politechniki Warszawskiej, Warszawa, 2018
This work was financially supported by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259
Sterownik VFO-ADR z kompensacją dryfu poprzecznego dla niedosterowanych pojazdów w zadaniu odtwarzania ścieżki w przestrzeni 3D
Postępy robotyki, wolumen 196 serii Prace naukowe. Elektronika, K. Tchoń, C. Zieliński, redaktorzy, strony 199-208. Oficyna Wydawnicza Politechniki Warszawskiej, Warszawa, 2018
Robustification of the modular tracking control system for non-Standard N-Trailers of uncertain kinematics
Control Engineering Practice, 64:160-172, 2017, DOI:10.1016/j.conengprac.2017.04.005 [ScienceDirect]
This work was financially supported by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259
Cascade-like modular tracking controller for non-Standard N-Trailers
IEEE Transactions on Control Systems Technology, 25(2):619-627, 2017, DOI: 10.1109/TCST.2016.2557232 [IEEE Xplore] [plik.pdf]
Output-feedback cascaded VFO-ADR tracking controller for autonomous rigid-body vehicles moving in a 3D space
11th International Workshop on Robot Motion and Control, strony 251-256, Wąsowo Palace, Poland, 2017 [IEEE Xplore]
The VFO path-following kinematic controller for robotic vehicles moving in a 3D space
11th International Workshop on Robot Motion and Control, strony 263-268, Wąsowo Palace, Poland, 2017 [IEEE Xplore]
VFO feedback control using positively-invariant funnels for mobile robots with bounded curvature of motion travelling in polygonal worlds
2017 IEEE International Conference on Advanced Intelligent Mechatronics, strony 124-129, Munich, Germany, 2017 [IEEE Xplore]
This work was financially supported by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259
Planning G3-continuous paths for state-constrained mobile robots with bounded curvature of motion
Trends in Advanced Intelligent Control, Optimization and Automation. KKA 2017, strony 473-482, Springer, Cham, 2017 [SpringerLink]
This work was financially supported by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259
Comparison of the feedforward control design methods for nonminimum-phase LTI SISO systems with application to the double-drum coiling machine
Trends in Advanced Intelligent Control, Optimization and Automation. KKA 2017, strony 251-260, Springer, Cham, 2017 [SpringerLink]
Fixed-structure feedforward control law for minimum- and nonminimum-phase LTI SISO systems
IEEE Transactions on Control Systems Technology, 24(4):1382-1393, 2016, DOI: 10.1109/TCST.2015.2487861 [IEEE Xplore] [plik.pdf]
Robust trajectory following without availability of the reference time-derivatives in the control scheme with active disturbance rejection
American Control Conference, strony 1536-1541, Boston, USA, 2016 [IEEE Xplore]
Robustification of the modular tracking controller for the N-Trailers by employing a disturbance observation-compensation loop
European Control Conference, strony 2306-2311, Aalborg, Denmark, 2016 [IEEE Xplore]
Sterowanie VFO dla monocykla w zadaniu odtwarzania ścieżki nieparametryzowanej
Postępy robotyki, wolumen 195, Tom II serii Prace naukowe. Elektronika, K. Tchoń i C. Zieliński redaktorzy, strony 489-498, Oficyna Wydawnicza Politechniki Warszawskiej, Warszawa, 2016
Procedura predykująca VFO dla algorytmów planowania ruchu robotów mobilnych z ograniczoną krzywizną
Postępy robotyki, wolumen 195, Tom II serii Prace naukowe. Elektronika, K. Tchoń i C. Zieliński redaktorzy, strony 499-508, Oficyna Wydawnicza Politechniki Warszawskiej, Warszawa, 2016
The concept of passive control-assistance for docking maneuvers with N-trailer vehicles
IEEE/ASME Transactions on Mechatronics, 20(5), strony 2075-2084, 2015, DOI: 10.1109/TMECH.2014.2362354 [IEEE Xplore] [plik.pdf]
Cascaded VFO control for non-standard N-trailer robots
Journal of Intelligent & Robotic Systems, 77(3-4), strony 415-432, 2015, DOI: 10.1007/s10846-013-9881-z [SpringerLink] [plik.pdf]
(The final publication is available at www.springerlink.com: SpringerLink)
This work was supported in part by the Polish scientific fund in years 2010-2012 as the research project No. N N514 087038
Motion control with minimization of a boundary off-track for non-Standard N-Trailers along forward-followed paths
2015 IEEE International Conference on Automation Science and Engineering (CASE), strony 1564-1569, Gothenburg, Szwecja, 2015 [IEEE Xplore] [plik.pdf]
VFO stabilization of a unicycle robot with bounded curvature of motion
10th International Workshop on Robot Motion and Control (RoMoCo), strony 263-268, Poznan University of Technology, Poznań, 2015 [IEEE Xplore]
Modular tracking controller for N-trailers with non-zero hitching offsets
2015 American Control Conference, strony 5371-5376, Chicago, USA, 2015 [IEEE Xplore] [plik.pdf]
Planning the waypoint-following task for a unicycle-like robot in cluttered environments
Journal of Automation, Mobile Robotics and Intelligent Systems, 9(1), strony 77-90, 2015, DOI: 10.14313/JAMRIS_1-2015/10 [JAMRIS]
A highly scalable path-following controller for N-trailers with off-axle hitching
Control Engineering Practice, 29, strony 61-73, 2014, DOI: 10.1016/j.conengprac.2014.04.001 [ScienceDirect] [plik.pdf]
Praca naukowa finansowana w latach 2012-2013 w ramach grantu statutowego nr 93/194/13 DS-MK
Lining-up control strategies for N-trailer vehicles
Journal of Intelligent & Robotic Systems, Special Issue on Articulated Mobile Robots (AMR), 75(1), strony 29-52, 2014, DOI: 10.1007/s10846-013-9846-2 [SpringerLink] [plik.pdf] [Guest Editorial]
(The final publication is available at www.springerlink.com: SpringerLink, Springer-Editorial)
Praca naukowa finansowana w latach 2012-2013 w ramach grantu statutowego nr 93/194/13 DS-MK
Cascaded VFO set-point control for N-trailers with on-axle hitching
IEEE Transactions on Control Systems Technology, 22(4), strony 1597-1606, 2014, DOI: 10.1109/TCST.2013.2290770 [IEEE Xplore] [plik.pdf]
Simple causal fixed-structure feedforward control law for general continuous-time LTI SISO systems
2014 European Control Conference (ECC), strony 61-66, Strasburg, Francja 2014 [IEEE Xplore]
Praca naukowa finansowana w ramach badań statutowych nr 09/93/DSPB/311
Planowanie przejazdu przez zbiór punktów dla zadania zrobotyzowanej inspekcji
Postępy robotyki, wolumen 194, Tom I serii Prace naukowe. Elektronika, K. Tchoń i C. Zieliński redaktorzy, strony 35-44, Oficyna Wydawnicza Politechniki Warszawskiej, Warszawa, 2014
Optymalna strategia przejazdu monocykla przez zbiór punktów referencyjnych w środowisku kolizyjnym
Pomiary Automatyka Robotyka, strony 88-95, 10/2014 [PAR]
Helping a driver in backward docking with N-trailer vehicles by the passive control-assistance system
16th International IEEE Annual Conference on Intelligent Transportation Systems (ITSC'13), strony 1993-1999, Haga, Holandia 2013 [IEEE Xplore] [plik.pdf]
Praca naukowa finansowana w latach 2012-2013 w ramach grantu statutowego nr 93/194/13 DS-MK
Cascaded approach to the path-following problem for N-trailer robots
Proccedings of the 9th International Workshop on Robot Motion and Control, strony 161-166, Pałac Wąsowo, 2013 [IEEE Xplore] [plik.pdf]
Praca naukowa finansowana w latach 2012-2013 w ramach grantu statutowego nr 93/194/13 DS-MK
Non-minimum-phase property of N-trailer kinematics resulting from off-axle interconnections
International Journal of Control, 86(4), strony 740-758, 2013, DOI: 10.1080/00207179.2012.759662 [Taylor&Francis Online] [Eprint]
Praca naukowa finansowana ze środków na naukę w latach 2010-2012 jako projekt badawczy nr N N514 087038
Active and passive straightening control strategies for non-standard N-trailer vehicles
2012 IEEE Int. Conference on Control Applications (IEEE Multi-Conference on Systems and Control), strony 1572-1577, Dubrownik, Chorwacja 2012 [IEEE Xplore]
Praca naukowa częściowo finansowana ze środków na naukę w latach 2010-2012 jako projekt badawczy nr N N514 087038 i częściowo jako grant statutowy 93/194/12 DS-MK
Kaskadowe sterowanie przegubowym robotem mobilnym w systemie RMP-SW
Postępy robotyki, wolumen 182, Tom I serii Prace naukowe. Elektronika, K. Tchoń i C. Zieliński redaktorzy, strony 189-198, Oficyna Wydawnicza Politechniki Warszawskiej, Warszawa, 2012 [plik.pdf]
Praca naukowa finansowana ze środków na naukę w latach 2010-2012 jako projekt badawczy nr N N514 087038
Feedback control framework for car-like robots using the unicycle controllers
Robotica, 30(4), strony 517-535, 2012, Copyright: Cambridge University Press 2011, DOI: 10.1017/S0263574711000750 [Robotica CJO] [plik.pdf] [CorrectionNote.pdf]
Praca naukowa częściowo finansowana ze środków na naukę w latach 2010-2012 jako projekt badawczy nr N N514 087038
Experimental verification of SMC with moving switching lines applied to hoisting crane vertical motion control
ISA Transactions, 51(6), strony 682-693, 2012 [ScienceDirect]
Application of the VFO method to set-point control for the N-trailer vehicle with off-axle hitching
International Journal of Control, 85(5), strony 502-521, 2012 [Taylor&Francis Online] [Eprint] [ComplementaryNote.pdf]
Praca naukowa finansowana ze środków na naukę w latach 2010-2012 jako projekt badawczy nr N N514 087038
Trajectory tracking control with obstacle avoidance capability for unicycle-like mobile robot
Bulletin of the Polish Academy of Sciences. Technical Sciences, 60(3), strony 537-546, 2012 [Versita Site]
The VFO state-constrained stabilisation of the nonholonomic manipulator with limited control input
International Journal of Control, 84(10), strony 1678-1694, 2011 [Taylor&Francis Online] [Eprint] [ComplementaryNote.pdf]
Odporne sterowanie ADRC w układzie z wielowymiarowym obiektem aerodynamicznym
Postępy automatyki i robotyki 2, wolumen 16 serii Monografie, K. Malinowski i R. Dindorf redaktorzy, strony 121-132, Wydawnictwo Politechniki Świętokrzyskiej, Kielce, 2011
Finite-time and asymptotic stabilization of car-like kinematics with amplitude-limited control input
Preprints of the 18th IFAC World Congress, strony 3497-3502, Mediolan, 2011 (Copyrights: IFAC) [IFAC-PapersOnLine] [ComplementaryNote.pdf]
Trajectory tracking control and obstacle avoidance for a differentially driven mobile robot
Preprints of the 18th IFAC World Congress, strony 1058-1063, Mediolan, 2011
Experimental verification of optimal sliding mode controllers for hoisting cranes
Preprints of the 18th IFAC World Congress, strony 11006-11011, Mediolan, 2011
Unified approach to trajectory tracking and set-point control for a front-axle driven car-like mobile robot
Proceedings of the 2011 American Control Conference, strony 1112-1117, San Francisco, USA, 2011 [IEEE Xplore] [prezentacja.pdf]
Praca naukowa częściowo finansowana ze środków na naukę w latach 2010-2012 jako projekt badawczy nr N N514 087038
Tracking control strategy for the standard N-trailer mobile robot - geometrically motivated approach
Robot Motion and Control 2011, Lecture Notes in Control and Information Sciences, wolumen 422, strony 39-51, Springer-Verlag 2012 [plik.pdf]
(The original publication is available at www.springerlink.com: SpringerLink)
Praca naukowa finansowana ze środków na naukę w latach 2010-2012 jako projekt badawczy nr N N514 087038
Geometrically motivated set-point control strategy for the standard N-trailer vehicle
2011 IEEE Intelligent Vehicles Symposium, strony 138-143, Baden-Baden, Niemcy, 2011 [IEEE Xplore] [plik.pdf]
Praca naukowa finansowana ze środków na naukę w latach 2010-2012 jako projekt badawczy nr N N514 087038
Zastosowanie metody VFO do sterowania pojazdami N-przyczepowymi
Naukowe seminarium wyjazdowe, Szklarska Poręba, maj 2011 [prezentacja.pdf]
Praca naukowa finansowana ze środków na naukę w latach 2010-2012 jako projekt badawczy nr N N514 087038
Kaskadowa metoda sterowania standardowym pojazdem N-przyczepowym z zastosowaniem algorytmu VFO
Seminarium naukowe Katedry Sterowania i Inżynierii Systemów, Politechnika Poznańska, Poznań, kwiecień 2011 [prezentacja.pdf]
Praca naukowa finansowana ze środków na naukę w latach 2010-2012 jako projekt badawczy nr N N514 087038
Experimental Application of Time-Varying Sliding Modes for Hoisting Crane Position Control with Constraints
49th IEEE Conference on Decision and Control, strony 90-95, Hilton Atlanta Hotel, Atlanta, USA, 2010 [IEEE Xplore]
Strategia śledzenia trajektorii z unikaniem kolizji dla robota mobilnego klasy (2,0)
Problemy robotyki, wolumen 175, Tom II serii Prace naukowe. Elektronika, K. Tchoń i C. Zieliński redaktorzy, strony 381-390, Oficyna Wydawnicza Politechniki Warszawskiej, Warszawa, 2010 [plik.pdf]
Hybrydowy stabilizator odporny dla robota mobilnego o kinematyce (2,0)
Problemy robotyki, wolumen 175, Tom II serii Prace naukowe. Elektronika, K. Tchoń i C. Zieliński redaktorzy, strony 391-400, Oficyna Wydawnicza Politechniki Warszawskiej, Warszawa, 2010 [plik.pdf]
Vector-Field-Orientation tracking control for a mobile vehicle disturbed by the skid-slip phenomena
Journal of Intelligent and Robotic Systems, 59(3-4), strony 341-365, 2010 [plik.pdf]
(The final publication is available at www.springerlink.com: SpringerLink)
Vector-Field-Orientation feedback control method for a diffrentially driven vehicle
IEEE Transactions on Control Systems Technology, 18(1), strony 45-65, 2010 [IEEE Xplore] [ComplementaryNote.pdf]
Tracking and set-point VFO control for an articulated mobile robot with on-axle hitched trailer
2009 American Control Conference, strony 919-924, St.Louis, 2009 [IEEE Xplore]
VFO tracking and set-point control for an articulated vehicle with off-axle hitched trailer
Proceedings of the European Control Conference 2009, strony 266-271, Budapeszt, 2009 [IEEE Xplore] [ComplementaryNote.pdf]
Motion planning and feedback control for a unicycle in a way point following task: The VFO approach
International Journal of Applied Mathematics and Computer Science, 19(4), strony 533-545 , 2009 [AMCS]
Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system
International Journal of Applied Mathematics and Computer Science, 19(4), strony 547-559 , 2009 [AMCS]
Finite-time VFO stabilizers for the unicycle with constrained control input
Robot Motion and Control 2009, Lecture Notes in Control and Information Sciences, wolumen 396, strony 23-34, Springer-Verlag, 2009 [plik.pdf] [ComplementaryNote.pdf]
(The original publication is available at www.springerlink.com: SpringerLink)
Eksperymentalna weryfikacja jakości sterowania VFO w obecności poślizgu dla pojazdu z napędem różnicowym
Problemy robotyki, wolumen 166, Tom II serii Prace naukowe. Elektronika, K. Tchoń i C. Zieliński redaktorzy, strony 379-388, Oficyna Wydawnicza Politechniki Warszawskiej, Warszawa, 2008 [plik.pdf]
Planowanie i realizacja ruchu z wykorzystaniem własności stabilizatora VFO dla robota z napędem różnicowym
Problemy robotyki, wolumen 166, Tom II serii Prace naukowe. Elektronika, K. Tchoń i C. Zieliński redaktorzy, strony 525-534, Oficyna Wydawnicza Politechniki Warszawskiej, Warszawa, 2008 [plik.pdf]
Metoda VFO i jej zastosowanie do sterowania potrójnym integratorem
Problemy Współczesnej Nauki. Sterowanie i Automatyzacja: aktualne problemy i ich rozwiązania, K. Malinowski i L. Rutkowski redaktorzy, strony 76-86, Akademicka Oficyna Wydawnicza EXIT, Warszawa, 2008 [plik.pdf]
High-velocity friction modeling for the system with unbalanced rotating mass
Challenging Problems of Science. Recent Advances in Control and Automation, K. Malinowski i L. Rutkowski redaktorzy, strony 191-201, Academic Publishing House EXIT, Warszawa, 2008 [plik.pdf]
VFO control for mobile vehicles in the presence of skid phenomenon
Robot Motion and Control 2007, Lecture Notes in Control and Information Sciences, wolumen 360, strony 57-66, Springer-Verlag, 2007 [plik.pdf]
(The original publication is available at www.springerlink.com: SpringerLink)
Posture stabilization of a unicycle mobile robot - two control approaches
Robot Motion and Control. Recent Developments, Lecture Notes in Control and Information Sciences, wolumen 335, strony 25-54, Springer-Verlag, 2006 [plik.pdf]
(The original publication is available at www.springerlink.com: SpringerLink)
Posture stabilization of a 3-link nonholonomic manipulator - two control approaches
V Konferencja Metody i Systemy Komputerowe CMS'05, strony 123-134, Kraków, 2005 [plik.pdf]
Asymptotic stabilization for the 3-D chained system: the vector field orientation approach
Proceedings of the 5th International Workshop On Robot Motion and Control, strony 97-104, Dymaczewo, 2005 [IEEE Xplore]
Asymptotic stabilization of the unicycle mobile robot: the vector field orientation approach
Proceedings of the 11th IEEE International Conference on Methods and Models in Automation and Robotics, strony 615-620, Międzyzdroje, 2005
Sterowanie nieholonomicznym robotem mobilnym metodą orientowania pola wektorowego
Postępy Robotyki, K. Tchoń redaktor, strony 235-246, Wydawnictwa Komunikacji i Łączności, Warszawa, 2005
Sterowanie nieholonomicznym systemem łańcuchowym metodą orientowania pola wektorowego
XV Krajowa Konferencja Automatyki, wolumen 2, strony 271-276, Warszawa 2005 [plik.pdf]
Trajectory tracking for a threecycle mobile robot: the vector field orientation approach
Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference, strony 1119-1124, Sevilla, 2005 [IEEE Xplore]
Tracking controller with vector field orientation for 3-D nonholonomic manipulator
Proceedings of the 4th International Workshop On Robot Motion and Control, strony 181-189, Puszczykowo, 2004 [IEEE Xplore]
Tracking controller for nonholonomic steering system with velocity constraints
Robot Control 2003. Proceedings volume from the 7th IFAC Symposium SYROCO, I. Dulęba i J. Z. Sąsiadek redaktorzy, wolumen 2, Elsevier LTD, 2004
Nieholonomiczny robot mobilny MiniTracker 3 do celów badawczych i edukacyjnych
AUTOMATYZACJA - NOWOŚCI I PERSPEKTYWY. Konferencja Naukowo-Techniczna Automation 2004, strony 362-371, Warszawa, 2004
Implementacja sterowania odpornego w systemie rozproszonym
XIV Krajowa Konferencja Automatyki, strony 647-652, Zielona Góra, 2002
Impedance control with virtual compliance
Proceedings of the Third International Workshop On Robot Motion and Control, strony 61-66, 2002
Measurement and control system of the climbing robot Safari
5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, strony 1001-1011, Paryż, 2002
Robust tracking with control vector constraints
Proceedings of the Second International Workshop On Robot Motion and Control, strony 169-174, Bukowy Dworek, 2001
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