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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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Error-based ADRC augmented with a residual compensator for control performance improvement with application to an aerodynamic plant
2025 IEEE International Conference on Systems, Man, and Cybernetics (SMC) (accepted), Vienna, Austria, 2025
Sterownik czasu ustalonego dla monocykla w pozycyjnym zadaniu odtwarzania ścieżki
17 Krajowa Konferencja Robotyki (przyjęty), Trzebieszowice, 2025
Scalable kinematic reconstruction methods of joint angles for N-trailer vehicles upon speed information with application to motion control
IEEE 36th Intelligent Vehicles Symposium (accepted), Cluj-Napoca, Romania, 2025
Fixed-time VFO control design for nonholonomic mobile robots with constrained control inputs
IEEE Transactions on Cybernetics, 55(7):3038-3050, 2025, DOI: 10.1109/TCYB.2025.3564036 [IEEE Xplore]
Scalable parametric-identification procedure for kinematics of automated N-trailer vehicles
IEEE Transactions on Vehicular Technology, 73(6):7758-7770, 2024, DOI: 10.1109/TVT.2024.3357886 [IEEE Xplore]
Decentralized predefined-time leaderless consensus-formation VFO control for nonholonomic multi-agent systems
13th International Workshop on Robot Motion and Control (RoMoCo'24): IEEE, strony 136-141, Poznań, Poland, 2024, DOI: 10.1109/RoMoCo60539.2024.10604405 [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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