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- Matteo Rubagotti, Antonio Estrada, Fernando CastaÃ±os, Antonella Ferrara, Leonid M. Fridman
- IEEE Transactions on Automatic Control
- 2011

We consider the problem of designing an integral sliding mode controller to reduce the disturbance terms that act on nonlinear systems with state-dependent drift and input matrix. The general case of both, matched and unmatched disturbances affecting the system is addressed. It is proved that the definition of a suitable sliding manifold and the generationâ€¦ (More)

- Matteo Rubagotti, Davide Martino Raimondo, Antonella Ferrara, Lalo Magni
- IEEE Transactions on Automatic Control
- 2011

This paper proposes a control strategy for nonlinear constrained continuous-time uncertain systems which combines robust model predictive control (MPC) with sliding mode control (SMC). In particular, the so-called Integral SMC approach is used to produce a control action aimed to reduce the difference between the nominal predicted dynamics of theâ€¦ (More)

- Matteo Rubagotti, Panagiotis Patrinos, Alberto Bemporad
- IEEE Transactions on Automatic Control
- 2014

This note describes a model predictive control (MPC) formulation for discrete-time linear systems with hard constraints on control and state variables, under the assumption that the solution of the associated quadratic program is neither optimal nor satisfies the inequality constraints. This is common in embedded control applications, for which real-timeâ€¦ (More)

- Matteo Rubagotti, Alex Ferrara
- Proceedings of the 2010 American Controlâ€¦
- 2010

This paper introduces a second order sliding mode controller for double integrators subject to external disturbances and model uncertainties, with both control and state constraints. The proposed control strategy proves to be able to robustly steer the system state to zero in a finite time, fulfilling the state constraints in spite of the uncertainties,â€¦ (More)

- Tomaso Poggi, Matteo Rubagotti, Alberto Bemporad, Marco Storace
- IEEE Transactions on Industrial Electronics
- 2012

This paper proposes piecewise affine (PWA) virtual sensors for the estimation of unmeasured variables of nonlinear systems with unknown dynamics. The estimation functions are designed directly from measured inputs and outputs and have two important features. First, they enjoy convergence and optimality properties, based on classical results on parametricâ€¦ (More)

- Matteo Rubagotti, Antonio Estrada, Fernando CastaÃ±os, Antonella Ferrara, Leonid M. Fridman
- 2010 11th International Workshop on Variableâ€¦
- 2010

This paper considers the problem of using an integral sliding mode strategy to reduce the disturbance terms acting on nonlinear systems in regular form. It is proved that the definition of a suitable sliding manifold and the generation of sliding modes upon it can guarantee the minimization of the disturbance terms. Simulation examples shows theâ€¦ (More)

- Antonella Ferrara, Matteo Rubagotti
- IEEE Transactions on Automatic Control
- 2008

In this technical note, the problem of the possible saturation of the continuous control variable in the sub-optimal second order sliding mode controller, applied to systems with saturating actuators, is addressed. It is proved that during the sliding phase, if basic assumptions are made, the continuous control variable never saturates. On the contrary,â€¦ (More)

In this paper, a harmonic potential field method for dynamic environments is proposed to generate an on-line reference trajectory for a wheeled mobile robot. A sliding mode controller is used to make the robot move along the prescribed trajectory determined by the gradient lines. The potential field is modified on-line, in order to make the robot avoid theâ€¦ (More)

For piecewise affine (PWA) systems whose dynamics are only defined in a bounded and possibly non-invariant set X , this paper proposes a numerical approach to analyze the stability of the origin and to find a region of attraction. The approach relies on introducing fake dynamics outside X and on synthesizing a piecewise affine and possibly discontinuousâ€¦ (More)

- Altay Zhakatayev, Matteo Rubagotti, Huseyin Atakan Varol
- IEEE Access
- 2015

Variable stiffness actuation has recently attracted great interest in robotics, especially in areas involving a high degree of human-robot interaction. After investigating various design approaches for variable stiffness actuated (VSA) robots, currently the focus is shifting to the control of these systems. Control of VSA robots is challenging due to theâ€¦ (More)