Search Results - "Freidovich, Leonid B."

Performance Recovery of Feedback-Linearization-Based Designs by Freidovich, L.B., Khalil, H.K.

“…We consider a tracking problem for a partially feedback linearizable nonlinear system with stable zero dynamics. The system is uncertain and only the output is…”
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Out-of-Distribution Detection for Deep Neural Networks With Isolation Forest and Local Outlier Factor by Luan, Siyu, Gu, Zonghua, Freidovich, Leonid B., Jiang, Lili, Zhao, Qingling

“…Deep Neural Networks (DNNs) are extensively deployed in today's safety-critical autonomous systems thanks to their excellent performance. However, they are…”
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New approach for swinging up the Furuta pendulum: Theory and experiments by La Hera, Pedro X., Freidovich, Leonid B., Shiriaev, Anton S., Mettin, Uwe

“…The problem of swinging up inverted pendulums has often been solved by stabilizing a particular class of homoclinic structures present in the dynamics of a…”
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Periodic motion planning and control for underactuated mechanical systems by Wang, Zeguo, Freidovich, Leonid B., Zhang, Honghua

“…We consider the problem of periodic motion planning and of designing stabilising feedback control laws for such motions in underactuated mechanical systems. A…”
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Controlled Invariants and Trajectory Planning for Underactuated Mechanical Systems by Shiriaev, Anton S., Freidovich, Leonid B., Spong, Mark W.

“…We study the problem of motion planning for underactuated mechanical systems. The idea is to reduce complexity by imposing via feedback a sufficient number of…”
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Almost periodic motion planning and control for double rotary pendulum with experimental validation by Wang, Zeguo, Freidovich, Leonid B., Zhang, Honghua

“…The aim is to develop a systematic procedure for planning feasible motions for a double rotary pendulum. This pendulum has one directly actuated horizontal…”
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Time-Varying Gain Differentiator: A Mobile Hydraulic System Case Study by Vazquez, Carlos, Aranovskiy, Stanislav, Freidovich, Leonid B., Fridman, Leonid M.

“…In mobile hydraulic systems, velocities are typically not measured. However, using their reliable estimates for feedback is known to allow designing better…”
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Robust orbital stabilization: A Floquet theory–based approach by Sætre, Christian Fredrik, Shiriaev, Anton S., Freidovich, Leonid B., Gusev, Sergei V., Fridman, Leonid M.

“…The design of robust orbitally stabilizing feedback is considered. From a known orbitally stabilizing controller for a nominal, disturbance‐free system, a…”
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Transverse Linearization for Controlled Mechanical Systems With Several Passive Degrees of Freedom by Shiriaev, A.S., Freidovich, L.B., Gusev, S.V.

“…This study examines the mechanical systems with an arbitrary number of passive (non-actuated) degrees of freedom and proposes an analytical method for…”
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Adaptive compensation of disturbances formed as sums of sinusoidal signals with application to an active vibration control benchmark by Aranovskiy, Stanislav, Freidovich, Leonid B.

“…An intuitive solution for the problem of adaptive attenuation of a disturbance formed as a finite sum of unknown sinusoidal signals is proposed for an…”
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Parallel Elastic Actuators as a Control Tool for Preplanned Trajectories of Underactuated Mechanical Systems by Mettin, Uwe, La Hera, Pedro X., Freidovich, Leonid B., Shiriaev, Anton S.

“…A lack of sufficient actuation power as well as the presence of passive degrees of freedom are often serious constraints for feasible motions of a robot…”
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On Orbital Stabilization for Industrial Manipulators: Case Study in Evaluating Performances of Modified PD+ and Inverse Dynamics Controllers by Pchelkin, Stepan S., Shiriaev, Anton S., Robertsson, Anders, Freidovich, Leonid B., Kolyubin, Sergey A., Paramonov, Leonid V., Gusev, Sergey V.

“…Orbital stabilization is one of the available alternatives to the classical asymptotic stabilization, known as the reference tracking control, which is…”
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SDP-based approximation of stabilising solutions for periodic matrix Riccati differential equations by Gusev, Sergei V., Shiriaev, Anton S., Freidovich, Leonid B.

“…Numerically finding stabilising feedback control laws for linear systems of periodic differential equations is a nontrivial task with no known reliable…”
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Periodic motion planning and control for double rotary pendulum via virtual holonomic constraints by Wang, Zeguo, Freidovich, Leonid B., Zhang, Honghua

“…Periodic motion planning for an under-actuated system is rather difficult due to differential dynamic constraints imposed by passive dynamics, and it becomes…”
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Stable Walking Gaits for a Three-Link Planar Biped Robot With One Actuator by La Hera, P. X. L. M., Shiriaev, A. S., Freidovich, L. B., Mettin, U., Gusev, S. V.

“…We consider a benchmark example of a three-link planar biped walker with torso, which is actuated in between the legs. The torso is thought to be kept upright…”
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Transverse Linearization for Impulsive Mechanical Systems With One Passive Link by Shiriaev, A.S., Freidovich, L.B.

“…A general method for planning and orbitally stabilizing periodic motions for impulsive mechanical systems with underactuation one is proposed. For each such…”
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Path-Constrained Motion Analysis: An Algorithm to Understand Human Performance on Hydraulic Manipulators by Morales, Daniel Ortiz, La Hera, Pedro, Westerberg, Simon, Freidovich, Leonid B., Shiriaev, Anton S.

“…We propose a novel method to analyze how human operators use hydraulic manipulators of heavy-duty equipment. The approach is novel in the sense that it applies…”
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A dynamic human motion: coordination analysis by Pchelkin, Stepan, Shiriaev, Anton S., Freidovich, Leonid B., Mettin, Uwe, Gusev, Sergei V., Kwon, Woong, Paramonov, Leonid

“…This article is concerned with the generic structure of the motion coordination system resulting from the application of the method of virtual holonomic…”
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Virtual-Holonomic-Constraints-Based Design of Stable Oscillations of Furuta Pendulum: Theory and Experiments by Shiriaev, A.S., Freidovich, L.B., Robertsson, A., Johansson, R., Sandberg, A.

“…The Furuta pendulum consists of an arm rotating in the horizontal plane and a pendulum attached to its end. Rotation of the arm is controlled by a DC motor,…”
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Algorithms for finding gaits of locomotive mechanisms: case studies for Gorilla robot brachiation by Pchelkin, Stepan S., Shiriaev, Anton S., Mettin, Uwe, Freidovich, Leonid B., Paramonov, Leonid V., Gusev, Sergey V.

“…We consider a model of a 24-degree-of-freedom monkey robot that is supposed to perform a brachiation locomotion, i.e. to swing from one row of a horizontal…”
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