Robotics and Control Lab (RCLab)

In the Robotics and Control Group (RCLab) at TFE, we focus on development of mathematical models for real-world systems and on their constructive use.

The systems of interest range from heavy-lifting hydraulic cranes, industrial manipulators, and walking robots to fluid flows within the human brain. We aim at systematic use of such models for sensing, visualization, prediction, and active control of the behaviors or of important variables or characteristics of these systems. Particularly active projects include motion planning and motion stabilization of the desired limit cycles for underactuated mechanical systems and walking robots, systematic feedback control design for automation of industrial mobile hydraulic manipulators used in forestry and agriculture, systematic friction identification and compensation for precision control, interaction and pose control for electrical manipulators, path planning for mobile robots and assistive power wheelchairs.

Research projects

Publications

Here are the publications published by the members of the group; personal and Ph.D students. The publications are listed in the following categories: Journal Articles, Conference Papers, Book and Book Chapters, Doctoral and Licentiate Thesis, and Other Publications.

Journal articles

Author

Title

Year sorteringsordning

Fulltext

Wang, Zeguo
Freidovich, Leonid B.
Zhang, Honghua

Periodic motion planning and control for underactuated mechanical systems
International Journal of Control, 91(6): 1350-1362

2018

-

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

Robust position control design for a cylinder in mobile hydraulics applications
Control Engineering Practice, 69: 36-49

2017

-

Pchelkin, Stepan S.
Shiriaev, Anton S.
Robertsson, Anders; 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, 25(1): 101-117

2017

-

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

Proportional Retarded Controller to Stabilize Underactuated Systems with Measurement Delays: Furuta Pendulum Case Study
Mathematical problems in engineering (Print)

2017

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

SDP-based approximation of stabilising solutions for periodic matrix Riccati differential equations
International Journal of Control, 89(7): 1396-1405

2016

-

Conference papers

Author

Title

Year sorteringsordning

Fulltext

Rönnbäck, Sven

Using Modern Software and the ICE Approach When Teaching University Students Modelling in Robotics
ROBOTICS IN EDUCATION: 63-68

2017

-

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

Performance Without Tweaking Differentiators via a PR controller: Furuta Pendulum Case Study
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA): 3777-3782

2016

-

Yung, I
Freidovich, Leonid
Vazquez, Carlos

Payload Estimation in Front-End Loaders

2016

-

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

Interval Differentiators: on-line estimation of differentiation accuracy
2016 EUROPEAN CONTROL CONFERENCE (ECC): 1347-1352

2016

-

Bagheri, Shahriar
Jafarov, Tural
Freidovich, Leonid; 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

2016

-

Books and book chapter

Author

Title

Year sorteringsordning

Fulltext

Freidovich, Leonid

Control methods for robotic applications: lecture notes

2013

-

Freidovich, Leonid B.

Optimal control for linear systems: lecture notes

2013

-

Rönnbäck, Sven
Wernersson, Åke

Range statistics and suppressing snowflakes detects for laser range finders in snowfall

2010

-

Doctoral theses and Licentiate theses

Author

Title

Year sorteringsordning

Fulltext

Freidovich, Leonid

Logic-based switching control of nonlinear systems using high-gain observers

2005

-

Other publications

Author

Title

Year sorteringsordning

Fulltext

Rönnbäck, Sven
Berglund, Tomas
Fredriksson, Håkan; et al.

Method of analyzing the surroundings of a vehicle

2007

-

Rönnbäck, Sven
Berglund, Tomas
Fredriksson, Håkan; et al.

Method of analyzing the surroundings of a vehicle

2006

-


Page Editor: Leonid Freidovich

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Contact Information

Leonid Freidovich
Tillämpad fysik och elektronik, Umeå Universitet
901 87 Umeå 

Visiting Address
X, Håken Gullessons väg 20, Teknikhuset, TC201

Tel:  +46 90 786 7646

Fax:  +46 90 786 6469

Contact Form

Contact Information for Assistive robotics and intelligent mechatronics

Sven Rönnbäck
Tillämpad fysik och elektronik, Umeå universitet
901 87 Umeå 

Visiting Address
X, Håken Gullessons väg 20, Teknikhuset, TB327

Tel:  +46(0) 90 786 5342

Mobile:  +46(0) 70 968 5337

Contact Form

Group members

Associate Professor, Docent

Leonid Freidovich

Associate Professor

Sven Rönnbäck

Junior Researcher

Carlos Vázquez

Postdoctor 

Ismael Castillo

PhD student

Szabolcs Fodor

Iyung Ong

Research funding

x