Publications

In press

  • D. Baimukashev, B. Rakhim, M. Rubagotti, H. A. Varol. “End-to-End Deep Fault Tolerant Control”, IEEE/ASME Transactions on Mechatronics, in press, DOI: 10.1109/TMECH.2021.3100150 (link).


2022

  • M. Rubagotti, I. Tusseyeva, S. Baltabayeva, D. Summers, A. Sandygulova. "Perceived Safety in Physical Human Robot Interaction - A Survey", Robotics and Autonomous Systems, vol. 151, article no. 104047, 2022.

  • D. Zholtayev, M. Rubagotti, T. D. Do. "Adaptive Super-Twisting Sliding Mode Control for Maximum Power Point Tracking of PMSG-Based Wind Energy Conversion Systems", Renewable Energy, vol. 183, pp. 877-889, 2022.


2021

  • M. Rubagotti, G.P. Incremona, D.M. Raimondo, A. Ferrara. “Constrained Nonlinear Discrete-Time Sliding Mode Control Based on a Receding Horizon Approach”, IEEE Transactions on Automatic Control, vol. 66, no. 8, pp. 1718-1724, 2021.

  • A. Oleinikov, S. Kusdavletov, A. Shintemirov, M. Rubagotti. “Safety-Oriented Model Predictive Control for Physical Human-Robot Interaction”, IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5665-5672, 2021.

  • G.P. Incremona, M. Rubagotti, M. Tanelli, A. Ferrara. “A General Framework for Switched and Variable-Gain Higher Order Sliding Mode Control”, IEEE Transactions on Automatic Control, vol. 66, no. 4, pp. 1718-1724, 2021.

  • G.P. Incremona, M. Rubagotti, M. Tanelli, A. Ferrara. “Enhanced Variable-Gain Sliding Mode Control for Robot Manipulators”, European Control Conference, Rotterdam, Netherlands, 29 June - 2 July 2021.


2020

  • A. Shintemirov, T. Taunyazov, B. Omarali, A. Nurbayeva, A. Kim, A. Bukeyev, M. Rubagotti. “An Open-Source Wireless Human Arm Motion Tracking System for Use in Robotics Research”, Sensors, vol. 20, no. 11, pp. 3082-3100, 2020.

  • A. Kuzdeuov, M. Rubagotti, H.A. Varol. “Neural Network Augmented Sensor Fusion for Pose Estimation of Tensegrity Manipulators”, IEEE Sensors Journal, vol. 20, no. 7, pp. 3655–3666, 2020.

  • D. Baimukashev, N. Sandibay, B. Rakhim, H.A. Varol, M. Rubagotti. “Deep Learning-Based Approximate Optimal Control of a Reaction-Wheel-Actuated Spherical Inverted Pendulum”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, 6-9 July 2020.


2019

  • M. Rubagotti, T. Taunyazov, B. Omaraly, A. Shintemirov. “Model Predictive Control for Semi-Autonomous Robot Teleoperation with Obstacle Avoidance”, IEEE Robotics and Automation Letters (selected for presentation at RSS 2019), vol. 4, no. 3, pp. 2746–2753, 2019.

  • A. Zhakatayev, M. Rubagotti, H.A. Varol. “Energy-Aware Optimal Control of Variable Stiffness Actuated Robots”, IEEE Robotics and Automation Letters (selected for presentation at ICRA 2019), vol. 4, no. 2, pp. 330–337, 2019.


2018

  • T. Taunyazov, M. Rubagotti, A. Shintemirov. “Constrained Orientation Control of a Spherical Parallel Manipulator Via Online Convex Optimization”, IEEE/ASME Transactions on Mechatronics, vol. 23, no. 1, pp. 252–261, 2018.

  • M. Rubagotti, G.P. Incremona, A. Ferrara “A Discrete-Time Optimization-Based Sliding Mode Control Law for Linear Systems with Input and State Constraints”, IEEE Conference on Decision and Control (CDC), Miami, FL, 14-16 December 2018.


2017

  • A. Zhakatayev, M. Rubagotti, H.A. Varol. “Time Optimal Control of Variable Stiffness Actuated Systems”, IEEE/ASME Transactions on Mechatronics, vol. 22, no. 3, pp. 1247–1258, 2017.

  • G.P. Incremona, M. Rubagotti, A. Ferrara. “Sliding Mode Control of Constrained Nonlinear Systems”, IEEE Transactions on Automatic Control, vol. 62, no. 6, pp. 2965–2972, 2017.

  • A. Khakimova, A. Shamshimova, D. Sharipova, A. Kusatayeva, A. Bemporad, Y. Familiant, A. Shintemirov, V. Ten, M. Rubagotti. “Optimal Energy Management of a Small-Size Building via Hybrid Model Predictive Control”, Energy and Buildings, vol. 140, pp. 1–8, 2017.


2016

  • M. Rubagotti, P. Patrinos, A. Guiggiani, A. Bemporad. “Real-Time Model Predictive Control Based on Dual Gradient Projection: Theory and Fixed-Point FPGA Implementation”, International Journal of Robust and Nonlinear Control, vol. 26, no. 15, pp. 3207–3438, 2016.

  • M. Rubagotti, L. Zaccarian, A. Bemporad. “A Lyapunov Method for Stability Analysis of Piecewise Affine Systems over Non-Invariant Domains”, International Journal of Control, vol. 89, no. 5, pp. 950–959, 2016.

  • A. Shintemirov, A. Niyetkaliyev, M. Rubagotti. “Numerical Optimal Control of a Spherical Parallel Manipulator Based on Unique Kinematic Solutions”, IEEE/ASME Transactions on Mechatronics, vol. 21, no. 1, pp. 98–109, 2016.

  • G.P. Incremona, M. Tanelli, M. Rubagotti, A. Ferrara. “Switched Third-Order Sliding Mode Control”, American Control Conference (ACC), Boston, MA, 6-8 July 2016.


2015

  • D.M. Raimondo, M. Rubagotti, C.N. Jones, L. Magni, A. Ferrara, M. Morari. “Multirate Sliding Mode Disturbance Compensation for Model Predictive Control”, International Journal of Robust and Nonlinear Control, vol. 25, no. 16, pp. 2984-3003, 2015.

  • A. Zhakatayev, M. Rubagotti, H.A. Varol. “Closed-Loop Control of Variable Stiffness Actuated Robots via Nonlinear Model Predictive Control”, IEEE Access, vol. 3, pp 235-248, 2015 (winner of the 2015 IEEE Access Best Multimedia Contest).

  • A. Zhakatayev, M. Rubagotti, H.A. Varol. “Integrated Optimal Design and Control of Variable Stiffness Actuated Robots”, European Control Conference (ECC), Linz, Austria, 15-18 July 2015.

  • A. Khakimova, A. Shamshimova, D. Sharipova, A. Kusatayeva, V. Ten, A. Bemporad, Y. Familiant, A. Shintemirov, M. Rubagotti. “Hybrid Model Predictive Control for Optimal Energy Management of a Smart House”, IEEE International Conference on Environment and Electrical Engineering, Rome, Italy, 10-13 June 2015.


2014

  • M. Rubagotti, D. Barcelli, A. Bemporad. “Robust Explicit Model Predictive Control via Regular Piecewise-Affine Approximation”, International Journal of Control, vol. 87, no. 12, pp. 2583-2593, 2014.

  • M. Rubagotti, P. Patrinos, A. Bemporad. “Stabilizing Linear Model Predictive Control Under Inexact Numerical Optimization”, IEEE Transactions on Automatic Control, vol. 59, no. 6, pp. 1660-1666, 2014.

  • M. Rubagotti, T. Poggi, A. Oliveri, C.A. Pascucci, A. Bemporad, M. Storace. “Low-Complexity Piecewise-Affine Virtual Sensors: Theory and Design”, International Journal of Control, vol. 87, no. 3, pp. 622-632, 2014.

  • A. Ferrara, G.P. Incremona, M. Rubagotti. “Third Order Sliding Mode Control with Box State Constraints”, IEEE Conference on Decision and Control (CDC), Los Angeles, CA, 15-17 December 2014.


2013

  • M. Rubagotti, S. Trimboli, A. Bemporad. “Stability and Invariance Analysis of Uncertain Discrete- Time Piecewise Affine Systems”, IEEE Transactions on Automatic Control, vol. 58, no. 9, pp. 2359-2365, 2013.

  • M. Rubagotti, P. Patrinos, A. Bemporad. “Stabilizing Embedded MPC with Computational Complexity Guarantees”, European Control Conference (ECC), Zurich, Switzerland, 17-19 July 2013.


2012

  • M. Rubagotti, M. Carminati, R. Grassetti, G. Clemente, A. Ferrara. “Modeling and Control of an Airbrake Electro-Hydraulic Smart Actuator”, Asian Journal of Control, vol. 14, no. 5, pp. 1159-1170, 2012.

  • T. Poggi, M. Rubagotti, A. Bemporad, M. Storace. “High-Speed Piecewise Affine Virtual Sensors”, IEEE Transactions on Industrial Electronics, vol. 56, no. 2, pp. 1228-1237, 2012.

  • M. Rubagotti, L. Zaccarian, A. Bemporad. “Stability Analysis of Discrete-Time Piecewise-Affine Systems Over Non-Invariant Domains”, IEEE Conference on Decision and Control (CDC), Maui, HI, 10-13 December 2012.

  • M. Rubagotti, T. Poggi, A. Bemporad, M. Storace. “Piecewise-Affine Direct Virtual Sensors with Reduced Complexity”, IEEE Conference on Decision and Control (CDC), Maui, HI, 10-13 December 2012.

  • M. Rubagotti, D. Barcelli, A. Bemporad. “Approximate Explicit MPC on Simplicial Partitions with Guaranteed Stability for Constrained Linear Systems”, IFAC Conference on Nonlinear Model Predictive Control (NMPC), Noordwijkerhout, Netherlands, 23-27 August 2012.

  • A. Oliveri, D. Barcelli, A. Bemporad, B.A.G. Genuit, W.P.M.H. Heemels, T. Poggi, M. Rubagotti, M. Storace. “MOBY-DIC: A MATLAB Toolbox for the Circuit Design of Explicit MPC”, IFAC Conference on Nonlinear Model Predictive Control (NMPC), Noordwijkerhout, Netherlands, 23-27 August 2012.

  • M.L. Della Vedova, M. Rubagotti, T. Facchinetti, A. Ferrara. “Platooning Control of Autonomous Nonholonomic Mobile Robots in a Human-Robot Coexisting Environment”, American Control Conference (ACC), Montreal, Canada, 27-29 June 2012.


2011

  • M. Rubagotti, A. Estrada, F. Castaños, A. Ferrara, L. Fridman. “Integral Sliding Mode Control for Nonlinear Systems with Matched and Unmatched Perturbations’’, IEEE Transactions on Automatic Control, vol. 56, no. 11, pp. 2699-2704 , 2011.

  • M. Rubagotti, M.L. Della Vedova, A. Ferrara. “Time-Optimal Sliding Mode Control of a Mobile Robot in a Dynamic Environment”, IET Control Theory and Applications, vol. 5, no. 16, pp. 1916-1924, 2011.

  • M. Rubagotti, D.M. Raimondo, A. Ferrara, L. Magni. “Robust Model Predictive Control with Integral Sliding Mode in Continuous-Time Sampled-Data Nonlinear Systems”, IEEE Transactions on Automatic Control, vol. 56, no. 3, pp. 556-570, 2011.

  • S. Trimboli, M. Rubagotti, A. Bemporad. “Stability and Invariance Analysis of Uncertain PWA Systems Based on Linear Programming”, IEEE Conference on Decision and Control (CDC), Orlando, FL, 12-15 December 2011.

  • M. Rubagotti, S. Trimboli, D. Bernardini, A. Bemporad. Stability and Invariance Analysis of Approximate Explicit MPC based on PWA Lyapunov Functions. IFAC World Congress, Milan, Italy, 28 August - 2 September 2011.

  • D. Bullo, A. Ferrara, M. Rubagotti. “Sliding Mode Observers for Sensorless Control of Current Fed Induction Motors”. American Control Conference (ACC), San Francisco, CA, 29 June - 1 July 2011.


2010

  • M. Carminati, M. Rubagotti, R. Grassetti, G. Ferrari, M. Sampietro. “A Smart Embedded Control Unit for Electro-Hydraulic Aircraft Actuators”. IEEE International Conference on Electrical Systems for Aircraft, Railway and Ship Propulsion (ESARS), Bologna, Italy, 19-21 October 2010.

  • M. Rubagotti, D.M. Raimondo, C.N. Jones, L. Magni, A. Ferrara, M. Morari. “A Nonlinear Model Predictive Control Scheme with Multirate Integral Sliding Mode”. IFAC Symposium on Nonlinear Control Systems (NOLCOS), Bologna, Italy, 1-3 September 2010.

  • M. Rubagotti, A. Ferrara. “Second Order Sliding Mode Control of a Perturbed Double Integrator with State Constraints”. American Control Conference (ACC), Baltimore, Maryland, 30 June - 2 July 2010.

  • M. Rubagotti, A. Estrada, F. Castaños, A. Ferrara, L. Fridman. “Optimal Disturbance Rejection via Integral Sliding Mode Control for Uncertain Systems in Regular Form”. International Workshop on Variable Structure Systems (VSS), Mexico City, Mexico, 26-28 June 2010.


2009

  • A. Ferrara, M. Rubagotti. “A Sub-Optimal Second Order Sliding Mode Controller for Systems with Saturating Actuators”, IEEE Transactions on Automatic Control, vol. 54, no. 5, pp. 1082-1087, 2009.

  • M. Rubagotti, S. Onori, G. Rizzoni. “Automotive Battery Prognostics Using Dual Extended Kalman Filter”. ASME Dynamic Systems and Control Conference (DSCC), Hollywood, California, 12-14 October 2009.

  • M. Rubagotti, D.M. Raimondo, A. Ferrara, L. Magni. “Robust Model Predictive Control of Continuous-Time Sampled-Data Nonlinear Systems with Integral Sliding Mode”. European Control Conference (ECC), Budapest, Hungary, 23-26 August 2009.

  • A. Ferrara, M. Rubagotti. “A Dynamic Obstacle Avoidance Strategy for a Mobile Robot Based on Sliding Mode Control”. Multi-Conference on Systems and Control, St. Petersburg, Russia, 8-10 July 2009.

  • G. Rizzoni, S. Onori, M. Rubagotti. “Diagnosis and Prognosis of Automotive Systems: Motivations, History and Some Results”. (semiplenary talk) IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes (SAFEPROCESS), Barcelona, Spain, 30 June - 3 July 2009.

  • A. Ferrara, M. Rubagotti. “A Sub-Optimal Sliding Mode Controller for Current Fed Induction Motors”. American Control Conference (ACC), St. Louis, Missouri, 10-12 June 2009.


2008

  • A. Ferrara, M. Rubagotti. “Second Order Sliding Mode Control of a Mobile Robot Based on a Harmonic Potential Field”, IET Control Theory and Applications, vol. 2, no. 9, pp. 807-818, 2008.

  • M. Rubagotti, D.M. Raimondo, A. Ferrara, L. Magni. “Robust nonlinear MPC with integral sliding mode for systems with matched disturbances”. (ext. abstract) International Workshop on Assessment and Future Directions of Nonlinear Model Predictive Control, Pavia, Italy, 5-9 September 2008.

  • A. Ferrara, M. Rubagotti. “A Sub-Optimal Second Order Sliding Mode Controller for Systems with Saturating Actuators”. American Control Conference (ACC), Seattle, Washington, 11-13 June 2008.


2007

  • A. Ferrara, M. Rubagotti. “Gradient Tracking Based Second Order Sliding Mode Control of a Wheeled Vehicle”. European Control Conference (ECC), Kos, Greece, 2-5 July 2007.

  • A. Ferrara, M. Rubagotti. “Sliding Mode Control of a Mobile Robot for Dynamic Obstacle Avoidance Based on a Time-Varying Harmonic Potential Field” (workshop paper). IEEE International Conference on Robotics and Automation (ICRA), Roma, Italy, 10-14 April 2007.