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.