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Maciej Marcin Michalek

Institute of Automatic Control and Robotics
Division of Control and Robotics
Poznan University of Technology (PUT)
Piotrowo 3A, 60-965 Poznan
room 420
phone: +48 (61) 665-2848
fax : +48 (61) 665-2849
e-mail: maciej.michalek@put.poznan.pl

ORCID iD iconorcid.org/0000-0002-9953-703X


Research activity

Research fields (technical sciences): automatic control and robotics

Detailed research areas: control design and control applications, articulated vehicles, mobile robotics, nonholonomic systems*' **, multi-vehicle systems, observer-based disturbance rejection control, nonminimum-phase systems

* M. Michalek: Vector-Fields-Orientation control method for subclass of nonholonomic systems (the VFO method, in Polish)
Ph.D. thesis, Poznan University of Technology, Faculty of Computing and Management, Chair of Control and Systems Engineering, Poznan, 2006 [file.pdf]
** M. Michalek: Kinematics and control of articulated mobile robots in the cascaded approach
D.Sc. thesis (habilitation), Poznan University of Technology, Faculty of Computing, Chair of Control and Systems Engineering, Poznan, 2015

Professional membership:
IEEE Member (2009); IEEE Senior Member (2016); IEEE Control Systems Society (CSS); IEEE Robotics & Automation Society (RAS); IEEE Vehicular Technology Society (VTS); IEEE Systems, Man, and Cybernetics Society (SMC)

Editorial Board membership:
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)


Publications (selection)

JOURNAL PAPERS

  1. M. M. Michałek
    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]

  2. R. Sobański, M. M. Michałek, M. Defoort
    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]

  3. M. M. Michałek. T. Gawron. M. Nowicki, P. Skrzypczyński
    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] [file.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

  4. M. M. Michałek. D. Pazderski
    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]
    This work was financially supported in part by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259

  5. K. Łakomy, M. M. Michałek
    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]

  6. M. M. Michałek
    Trailer-Maneuverability in N-Trailer Structures
    IEEE Robotics and Automation Letters, 5(4):5105-5112, 2020, DOI: 10.1109/LRA.2020.3005889 [IEEE Xplore] [file.pdf]

  7. M. M. Michałek, B. Patkowski, T. Gawron
    Modular kinematic modelling of articulated buses
    IEEE Transactions on Vehicular Technology, 69(8):8381-8394, 2020, DOI: 10.1109/TVT.2020.2999639 [IEEE Xplore] [file.pdf]
    This work was financially supported in part by the National Centre for Research and Development (NCBR), Poland, as the grant No. POIR.04.01.02-00-0081/17

  8. L. Guevara, M. M. Michałek, F. Auat Cheein
    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

  9. L. Guevara, M. M. Michałek, F. Auat Cheein
    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

  10. M. M. Michałek, K. Łakomy, W. Adamski
    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]

  11. M. M. Michałek, D. Pazderski
    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] [file.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

  12. T. Gawron, M. M. Michałek
    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] [file.pdf]
    This work was financially supported by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259

  13. M. M. Michałek, A. L'Afflitto, T. Urakubo
    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] [file.pdf]

  14. M. M. Michałek, T. Gawron
    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] [file.pdf]
    This work was financially supported by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259

  15. T. Gawron, M. M. Michałek
    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] [file.pdf]
    This work was financially supported by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259

  16. A. J. Prado, M. M. Michałek, F. Auat Cheein
    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]

  17. M. M. Michałek
    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] [file.pdf]

  18. M. M. Michałek, M. Kiełczewski
    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

  19. M. M. Michałek
    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] [file.pdf]

  20. M. M. Michałek, M. Kiełczewski
    The concept of passive control-assistance for docking maneuvers with N-trailer vehicles
    IEEE/ASME Transactions on Mechatronics, 20(5):2075-2084, 2015, DOI: 10.1109/TMECH.2014.2362354 [IEEE Xplore] [file.pdf]

  21. M. M. Michałek, M. Kiełczewski, T. Jedwabny
    Cascaded VFO control for non-standard N-trailer robots
    Journal of Intelligent & Robotic Systems, 77(3-4):415-432, 2015, DOI: 10.1007/s10846-013-9881-z [SpringerLink] [file.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

  22. T. Gawron, M. M. Michałek
    Planning the waypoint-following task for a unicycle-like robot in cluttered environments
    Journal of Automation, Mobile Robotics and Intelligent Systems, 9(1):77-90, 2015, DOI: 10.14313/JAMRIS_1-2015/10 [JAMRIS]

  23. M. M. Michałek
    A highly scalable path-following controller for N-trailers with off-axle hitching
    Control Engineering Practice, 29:61-73, 2014, DOI: 10.1016/j.conengprac.2014.04.001 [ScienceDirect] [file.pdf]
    This work was supported in years 2012-2013 as the statutory grant No. 93/194/13 DS-MK

  24. M. Michałek, M. Kiełczewski
    Cascaded VFO set-point control for N-trailers with on-axle hitching
    IEEE Transactions on Control Systems Technology, 22(4):1597-1606, 2014, DOI: 10.1109/TCST.2013.2290770 [IEEE Xplore] [file.pdf]

  25. M. Michałek
    Lining-up control strategies for N-trailer vehicles
    Journal of Intelligent & Robotic Systems, Special Issue on Articulated Mobile Robots (AMR), 75(1):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)
    This work was supported in years 2012-2013 as the statutory grant No. 93/194/13 DS-MK

  26. M. Michałek
    Non-minimum-phase property of N-trailer kinematics resulting from off-axle interconnections
    International Journal of Control, 86(4):740-758, 2013, DOI: 10.1080/00207179.2012.759662 [Taylor&Francis Online] [Eprint]
    This work was supported in part by the Polish scientific fund in years 2010-2012 as the research project No. N N514 087038

  27. M. Michałek, K. Kozłowski
    Feedback control framework for car-like robots using the unicycle controllers
    Robotica, 30(4):517-535, 2012, Copyright: Cambridge University Press 2011, DOI: 10.1017/S0263574711000750 [Robotica CJO] [file.pdf] [CorrectionNote.pdf]
    This work was supported in part by the Polish scientific fund in years 2010-2012 as the research project No. N N514 087038

  28. A. Nowacka-Leverton, M. Michałek, D. Pazderski, A. Bartoszewicz
    Experimental verification of SMC with moving switching lines applied to hoisting crane vertical motion control
    ISA Transactions, 51(6):682-693, 2012 [ScienceDirect]

  29. M. Michałek
    Application of the VFO method to set-point control for the N-trailer vehicle with off-axle hitching
    International Journal of Control, 85(5):502-521, 2012     [Taylor&Francis Online] [Eprint] [ComplementaryNote.pdf]
    This work was supported by the Polish scientific fund in years 2010-2012 as the research project No. N N514 087038

  30. W. Kowalczyk, M. Michałek, K. Kozłowski
    Trajectory tracking control with obstacle avoidance capability for unicycle-like mobile robot
    Bulletin of the Polish Academy of Sciences. Technical Sciences, 60(3):537-546, 2012 [Versita Site]

  31. M. Michałek, K. Kozłowski
    The VFO state-constrained stabilisation of the nonholonomic manipulator with limited control input
    International Journal of Control, 84(10):1678-1694, 2011 [Taylor&Francis Online] [Eprint] [ComplementaryNote.pdf]

  32. M. Michałek, P. Dutkiewicz, M. Kiełczewski, D. Pazderski
    Vector-Field-Orientation tracking control for a mobile vehicle disturbed by the skid-slip phenomena
    Journal of Intelligent & Robotic Systems, 59(3-4):341-365, 2010 [SpringerLink] [file.pdf]
    (The final publication is available at www.springerlink.com: SpringerLink)

  33. M. Michałek, K. Kozłowski
    Vector-Field-Orientation feedback control method for a diffrentially driven vehicle
    IEEE Transactions on Control Systems Technology, 18(1):45-65, 2010 [IEEE Xplore] [ComplementaryNote.pdf]

  34. M. Michałek, K. Kozłowski
    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):533-545 , 2009 [AMCS]

  35. M. Michałek, P. Dutkiewicz, M. Kiełczewski, D. Pazderski
    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):547-559 , 2009 [AMCS]

BOOK CHAPTERS

  1. M. M. Michałek
    Lining-up stabilizers for pusher and puller articulated vehicles
    Advanced, Contemporary Control, pp. 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

  2. T. Gawron, M. M. Michałek
    Planning G3-continuous paths for state-constrained mobile robots with bounded curvature of motion
    Trends in Advanced Intelligent Control, Optimization and Automation. KKA 2017, Advances in Intelligent Systems and Computing, Vol. 577, pp. 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

  3. K. Łakomy, M. M. Michałek
    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, Advances in Intelligent Systems and Computing, Vol. 577, pp. 251-260, Springer, Cham, 2017 [SpringerLink]

  4. M. Michałek
    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, Vol. 422, pp. 39-51, Springer-Verlag 2012 [file.pdf]
    (The original publication is available at www.springerlink.com: SpringerLink)
    This work was supported by the Polish scientific fund in years 2010-2012 as the research project No. N N514 087038

  5. M. Michałek, K. Kozłowski
    Finite-time VFO stabilizers for the unicycle with constrained control input
    Robot Motion and Control 2009, Lecture Notes in Control and Information Sciences, Vol. 396, pp. 23-34, Springer-Verlag, 2009 [file.pdf] [ComplementaryNote.pdf]
    (The original publication is available at www.springerlink.com: SpringerLink)

  6. P. Dutkiewicz, P. Herman, M. Michałek
    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 editors, pp. 191-201, Academic Publishing House EXIT, Warsaw, 2008 [file.pdf]

  7. M. Michałek
    VFO control for mobile vehicles in the presence of skid phenomenon
    Robot Motion and Control 2007, Lecture Notes in Control and Information Sciences, Vol. 360, pp. 57-66, Springer-Verlag, 2007 [file.pdf]
    (The original publication is available at www.springerlink.com: SpringerLink)

  8. K. Kozłowski, J. Majchrzak, M. Michałek, D. Pazderski
    Posture stabilization of a unicycle mobile robot - two control approaches
    Robot Motion and Control. Recent Developments, Lecture Notes in Control and Information Sciences, Vol. 335, pp. 25-54, Springer-Verlag, 2006 [file.pdf]
    (The original publication is available at www.springerlink.com: SpringerLink)

CONFERENCE PAPERS

  1. R. Sobański, M. Defoort, M. M. Michałek
    Decentralized predefined-time leaderless consensus-formation VFO control for nonholonomic multi-agent systems
    13th International Workshop on Robot Motion and Control (RoMoCo'24): IEEE, pp. 136-141, Poznań, Poland, 2024, DOI: 10.1109/RoMoCo60539.2024.10604405 [IEEE Xplore]

  2. R. Sobański, M. M. Michałek, M. Defoort
    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, pp. 356-361, Międzyzdroje, Poland, 2023 [IEEE Xplore]

  3. N. Wi¶niewska, A. Rafalski, M. M. Michałek
    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, pp. 490-495, Międzyzdroje, Poland, 2023 [IEEE Xplore]

  4. M. M. Michałek, W. Adamski
    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), pp. 2991-2996, Cancun, Mexico, 2022 [IEEE Xplore]

  5. M. M. Michałek
    Robust visual servoing for mobile robots with the VFO-ADRC system
    17th International Conference on Control, Automation, Robotics and Vision (ICARCV), pp. 1-6, Singapore, 2022 [IEEE Xplore]

  6. M. M. Michałek
    Scalable procedure of parametric estimation for N-trailer kinematics
    IEEE International Conference on Systems, Man, and Cybernetics (IEEE SMC), pp. 353-358, Prague, Czech Republic, 2022 [IEEE Xplore]

  7. M. M. Michałek, R. Sobański, M. Defoort
    Fixed-time VFO control for a unicycle
    Prace Naukowe. Elektronika,Tom I, 197:191-200, Oficyna Wydawnicza Politechniki Warszawskiej, Warsaw, 2022

  8. M. M. Michałek
    Off-track reduction control for roundabout negotiation with multi-steering N-trailers
    21st IFAC World Congress, IFAC-PapersOnLine, 53(2):15687-15692, 2020 [ScienceDirect] [file.pdf]
    This work was financially supported in part by the National Science Centre, Poland, as the research grant No. 2016/21/B/ST7/02259

  9. K. Łakomy, M. M. Michałek
    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] [file.pdf]

  10. M. M. Michałek
    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] [file.pdf]

  11. M. M. Michałek
    Modular approach to compact low-speed kinematic modelling of multi-articulated urban buses for motion algorithmization purposes
    2019 IEEE Intelligent Vehicles Symposium (IV), pp. 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, and in part by the statutory fund No. 09/93/DSPB/0911 of PUT

  12. T. Gawron, M. Mydlarz, M. M. Michałek
    Algorithmization of constrained monotonic maneuvers for an advanced driver assistant system in the intelligent urban buses
    2019 IEEE Intelligent Vehicles Symposium (IV), pp. 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

  13. M. M. Michałek, R. Wang, X. Zhang
    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), pp. 184-190, Poznań, Poland, 2019 [IEEE Xplore]

  14. K. Łakomy, M. M. Michałek
    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), accepted, Cranfield, UK, 2019

  15. T. Gawron, M. M. Michałek
    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), pp. 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

  16. M. M. Michałek, L. Adouane
    Safe cooperative merging strategy for platoon forming by a constrained multi-vehicle system
    2018 IEEE Conference on Control Technology and Applications (CCTA), pp. 1094-1071, 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

  17. T. Gawron, M. M. Michałek
    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), pp. 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

  18. M. M. Michałek, D. Pazderski
    Computing the admissible reference state-trajectories for differentially non-flat kinematics of non-Standard N-Trailers
    2018 European Control Conference (ECC), pp. 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

  19. M. M. Michałek, W. Adamski
    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, pp. 251-256, W±sowo Palace, Poland, 2017 [IEEE Xplore]

  20. K. Łakomy, M. M. Michałek
    The VFO path-following kinematic controller for robotic vehicles moving in a 3D space
    11th International Workshop on Robot Motion and Control, pp. 263-268, W±sowo Palace, Poland, 2017 [IEEE Xplore]

  21. T. Gawron, M. M. Michałek
    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 (AIM), pp. 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

  22. M. M. Michałek
    Robust trajectory following without availability of the reference time-derivatives in the control scheme with active disturbance rejection
    American Control Conference, pp. 1536-1541, Boston, USA, 2016 [IEEE Xplore]

  23. M. M. Michałek
    Robustification of the modular tracking controller for the N-Trailers by employing a disturbance observation-compensation loop
    European Control Conference, pp. 2306-2311, Aalborg, Denmark, 2016 [IEEE Xplore]

  24. M. M. Michałek
    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), pp. 1564-1569, Gothenburg, Sweden, 2015 [IEEE Xplore] [file.pdf]

  25. T. Gawron, M. M. Michałek
    VFO stabilization of a unicycle robot with bounded curvature of motion
    10th International Workshop on Robot Motion and Control (RoMoCo), pp. 263-268, Poznan University of Technology, Poznań, Poland, 2015 [IEEE Xplore]

  26. M. M. Michałek
    Modular tracking controller for N-trailers with non-zero hitching offsets
    2015 American Control Conference, pp. 5371-5376, Chicago, USA, 2015 [IEEE Xplore] [file.pdf]

  27. M. M. Michałek
    Simple causal fixed-structure feedforward control law for general continuous-time LTI SISO systems
    2014 European Control Conference (ECC), pp. 61-66, Strasbourg, France 2014 [IEEE Xplore]
    This work was supported by the statutory fund 09/93/DSPB/311

  28. M. Michałek, M. Kiełczewski
    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), pp. 1993-1999, The Hague, The Netherlands 2013 [IEEE Xplore] [file.pdf]
    This work was supported by the statutory grant No. 93/194/13 DS-MK

  29. M. Michałek
    Cascaded approach to the path-following problem for N-trailer robots
    9th International Workshop on Robot Motion and Control, pp. 161-166, W±sowo Palace, Poland, 2013 [IEEE Xplore] [file.pdf]
    This work was supported by the statutory grant No. 93/194/13 DS-MK

  30. M. Michałek
    Active and passive straightening control strategies for non-standard N-trailer vehicles
    2012 IEEE Int. Conference on Control Applications (part of IEEE Multi-Conference on Systems and Control), pp. 1572-1577, Dubrovnik, Croatia 2012 [IEEE Xplore]
    This work was supported in part by the Polish scientific fund in years 2010-2012 as the research project No. N N514 087038 and in part by the statutory grant No. 93/194/12 DS-MK

  31. M. Michałek, K. Kozłowski
    Finite-time and asymptotic stabilization of car-like kinematics with amplitude-limited control input
    Preprints of the 18th IFAC World Congress, pp. 3497-3502, Milano, 2011 (Copyrights: IFAC) [IFAC-PapersOnLine] [ComplementaryNote.pdf]

  32. W. Kowalczyk, M. Michałek, K. Kozłowski
    Trajectory tracking control and obstacle avoidance for a differentially driven mobile robot
    Preprints of the 18th IFAC World Congress, pp. 1058-1063, Milano, 2011

  33. A. Nowacka-Leverton, D. Pazderski, M. Michałek, A. Bartoszewicz
    Experimental verification of optimal sliding mode controllers for hoisting cranes
    Preprints of the 18th IFAC World Congress, pp. 11006-11011, Milano, 2011

  34. M. Michałek, K. Kozłowski
    Unified approach to trajectory tracking and set-point control for a front-axle driven car-like mobile robot
    2011 American Control Conference, pp. 1112-1117, San Francisco, 2011 [IEEE Xplore] [slides.pdf]
    This work was supported in part by the Polish scientific fund in years 2010-2012 as the research project No. N N514 087038

  35. M. Michałek
    Geometrically motivated set-point control strategy for the standard N-trailer vehicle
    2011 IEEE Intelligent Vehicles Symposium, pp. 138-143, Baden-Baden, 2011 [IEEE Xplore] [file.pdf]
    This work was supported by the Polish scientific fund in years 2010-2012 as the research project No. N N514 087038

  36. A. Nowacka-Leverton, M. Michałek, D. Pazderski, A. Bartoszewicz
    Experimental Application of Time-Varying Sliding Modes for Hoisting Crane Position Control with Constraints
    49th IEEE Conference on Decision and Control, pp. 90-95, Atlanta, 2010 [IEEE Xplore]

  37. M. Michałek, K. Kozłowski
    Tracking and set-point VFO control for an articulated mobile robot with on-axle hitched trailer
    2009 American Control Conference, pp. 919-924, St.Louis, 2009 [IEEE Xplore]

  38. M. Michałek, K. Kozłowski
    VFO tracking and set-point control for an articulated vehicle with off-axle hitched trailer
    European Control Conference 2009, pp. 266-271, Budapest, 2009 [IEEE Xplore] [ComplementaryNote.pdf]

  39. K. Kozłowski, M. Michałek, D. Pazderski
    Posture stabilization of a 3-link nonholonomic manipulator - two control approaches
    5th Conference on Computer Methods and Systems CMS'05, pp. 123-134, Cracow, 2005 [file.pdf]

  40. M. Michałek, K. Kozłowski
    Asymptotic stabilization for the 3-D chained system: the vector field orientation approach
    5th International Workshop On Robot Motion and Control, pp. 97-104, Dymaczewo, 2005 [IEEE Xplore]

  41. M. Michałek, K. Kozłowski
    Asymptotic stabilization of the unicycle mobile robot: the vector field orientation approach
    11th IEEE International Conference on Methods and Models in Automation and Robotics, pp. 615-620, Miedzyzdroje, 2005

  42. M. Michałek, K. Kozłowski
    Trajectory tracking for a threecycle mobile robot: the vector field orientation approach
    44th IEEE Conference on Decision and Control and European Control Conference, pp. 1119-1124, Sevilla, 2005 [IEEE Xplore]

  43. M. Michałek, K. Kozłowski
    Tracking controller with vector field orientation for 3-D nonholonomic manipulator
    4th International Workshop On Robot Motion and Control, pp. 181-189, Puszczykowo, 2004 [IEEE Xplore]

  44. M. Michałek
    Tracking controller for nonholonomic steering system with velocity constraints
    Robot Control 2003. Proceedings volume from the 7th IFAC Symposium SYROCO, I. Duleba i J. Z. Sasiadek editors, Vol. 2, Elsevier LTD, 2004