Gianni Ferretti

About

Gianni Ferretti was born in Cremona (Italy) in 1962. He received the ‘Laurea’ degree in Electronics Engineering in 1987 from Politecnico di Milano. From 1990 to 1998 he was Assistant Professor at the Department of Electronics and Computer Science of Politecnico di Milano and in 1994 he was a visiting researcher at the Laboratoire d’Automatique de Grenoble. From 1998 to 2005 he was Associate Professor at Politecnico di Milano where he is currently Full Professor in Systems and Control. He is Vice Rector for the Cremona campus of Politecnico di Milano and teaches Fundamentals of Automatic Control and Simulation Techniques and Tools. His principal research interests are: control of servomechanisms, modelling and simulation of mechatronic systems, force/position control of robots, modelling and simulation of automotive systems, modelling and control of biogas power plants. He is coauthor of more than 100 papers, most of which published in international journals or presented in international conferences, and was involved in many research projects with industries and institutions.

Work

Politecnico di Milano
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Full Professor

Italy

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Education

Politecnico di Milano
Italy

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Laurea in Electronic Engineering

Publications

Object-oriented modelling of a tracked vehicle for agricultural applications

Published by

Computers and Electronics in Agriculture

Summary

journal-article

Efficient Control Representation in Digital Twins: An Imperative Challenge for Declarative Languages

Published by

IEEE Transactions on Industrial Informatics

Summary

journal-article

The potential of a coordinated system of gates for flood irrigation management in paddy rice farm

Published by

Agricultural Water Management

Summary

journal-article

Early prediction of BMP tests: A step response method for estimating first-order model parameters

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Renewable Energy

Summary

journal-article

LFT-Based Identification of Lateral Vehicle Dynamics

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IEEE Transactions on Vehicular Technology

Summary

journal-article

An Admissible Heuristic to Improve Convergence in Kinodynamic Planners Using Motion Primitives

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IEEE Control Systems Letters

Summary

journal-article

Ensuring safety in hands-on control through stability analysis of the human-robot interaction

Published by

Robotics and Computer-Integrated Manufacturing

Summary

journal-article

Closed-form control oriented model of highly flexible manipulators

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Applied Mathematical Modelling

Summary

journal-article

Special issue on object-oriented modelling and simulation

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Mathematical and Computer Modelling of Dynamical Systems

Summary

journal-article

Human-like path planning in the presence of landmarks

Published by

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Summary

book

LFT-based MPC Control of an Autonomous Vehicle

Published by

IFAC-PapersOnLine

Summary

journal-article

Model based detection and 3D localization of planar objects for industrial setups

Published by

ICINCO 2016 - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics

Summary

conference-paper

Closed form Newton–Euler dynamic model of flexible manipulators

Published by

Robotica

Summary

journal-article

Closed form model of manipulators with highly flexible links

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IFAC-PapersOnLine

Summary

conference-paper

Generation of human walking paths

Published by

Autonomous Robots

Summary

journal-article

LFT modelling and identification of anaerobic digestion

Published by

Control Engineering Practice

Summary

journal-article

LFT modelling and identification of anaerobic digestion

Published by

Control Engineering Practice

Summary

journal-article

Modelling, identification and control of a flexible lightweight robot for space applications

Published by

Advances in the Astronautical Sciences

Summary

conference-paper

Parameter identification of a reduced order LFT model of anaerobic digestion

Published by

Control-Oriented Modelling and Identification: Theory and Practice

Summary

book

A comparative evaluation of human motion planning policies

Published by

IFAC Proceedings Volumes (IFAC-PapersOnline)

Summary

conference-paper

Object-oriented modelling of general flexible multibody systems

Published by

Mathematical and Computer Modelling of Dynamical Systems

Summary

journal-article

Generation of human walking paths

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IEEE International Conference on Intelligent Robots and Systems

Summary

conference-paper

Walk-through programming for robotic manipulators based on admittance control

Published by

Robotica

Summary

journal-article

Flexible logic-based co-simulation of modelica models

Published by

IEEE International Conference on Industrial Informatics (INDIN)

Summary

conference-paper

Towards safe human-robot interaction in robotic cells: An approach based on visual tracking and intention estimation

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IEEE International Conference on Intelligent Robots and Systems

Summary

conference-paper

Mechatronic design of the sun tracking system of a linear fresnel reflector solar plant

Published by

IFAC Proceedings Volumes (IFAC-PapersOnline)

Summary

conference-paper

Model order reduction for object-oriented models: A control systems perspective

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Mathematical and Computer Modelling of Dynamical Systems

Summary

journal-article

Numerical issues in integrating holonomic kinematic inversion algorithms for redundant manipulators

Published by

IFAC Proceedings Volumes (IFAC-PapersOnline)

Summary

conference-paper

Special issue on object-oriented modelling and simulation

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Mathematical and Computer Modelling of Dynamical Systems

Summary

journal-article

Assigning virtual tool dynamics to an industrial robot through an admittance controller

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2009 International Conference on Advanced Robotics, ICAR 2009

Summary

conference-paper

Some fundamental limitations in the control of two-mass systems

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IEEE 2009 International Conference on Mechatronics, ICM 2009

Summary

conference-paper

Object-oriented modelling and simulation of a motorcycle

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Mathematical and Computer Modelling of Dynamical Systems

Summary

journal-article

Object-oriented modelling and simulation of an ATV

Published by

23rd International Conference on Noise and Vibration Engineering 2008, ISMA 2008

Summary

conference-paper

Object-oriented multibody motorcycle modelling for control systems prototyping

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Proceedings of the 2006 IEEE Conference on Computer Aided Control Systems Design, CACSD

Summary

conference-paper

Modelling and simulation of a gripper with Dymola

Published by

Mathematical and Computer Modelling of Dynamical Systems

Summary

journal-article

Object-oriented modelling of flexible beams

Published by

Multibody System Dynamics

Summary

journal-article

Special issue on modular physical modelling

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Mathematical and Computer Modelling of Dynamical Systems

Summary

journal-article

A mechatronic approach to the control of machine tools

Published by

IFAC Proceedings Volumes (IFAC-PapersOnline)

Summary

conference-paper

Modular modelling of flexible thin beams in multibody systems

Published by

Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05

Summary

conference-paper

On the use of torque sensors in a space robotics application

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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Summary

conference-paper

An integral friction model

Published by

Proceedings - IEEE International Conference on Robotics and Automation

Summary

conference-paper

Impedance control for elastic joints industrial manipulators

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IEEE Transactions on Robotics and Automation

Summary

journal-article

Single and multistate integral friction models

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IEEE Transactions on Automatic Control

Summary

journal-article

The operational space control applied to a space robotic manipulator

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Proceedings - IEEE International Conference on Robotics and Automation

Summary

conference-paper

Virtual prototyping of mechatronic systems

Published by

Annual Reviews in Control

Summary

journal-article

Load behavior concerned PID control for two-mass servo systems

Published by

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Summary

conference-paper

Adaptive compensation of torque disturbances in an industrial robot

Published by

IFAC Proceedings Volumes (IFAC-PapersOnline)

Summary

conference-paper

Modeling and experimental analysis of the vibrations in hard disk drives

Published by

IEEE/ASME Transactions on Mechatronics

Summary

journal-article

Suppression of load oscillations in precision servomechanisms sensing only motor position

Published by

IFAC Proceedings Volumes (IFAC-PapersOnline)

Summary

conference-paper

Limitations in control of elastic servos with co-located sensors

Published by

International Workshop on Advanced Motion Control, AMC

Summary

conference-paper

Estimation of NOx emissions in thermal power plants using neural networks

Published by

Journal of Engineering for Gas Turbines and Power

Summary

journal-article

Servomeccanismi di posizione con motori a magneti permanenti Componenti, analisi e controllo

Published by

Alta Frequenza Rivista Di Elettronica

Summary

journal-article

Alternatives in precise load motion control of two-mass servomechanisms

Published by

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Summary

conference-paper

Dynamic model of a multiple disk and spindle assembly

Published by

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Summary

conference-paper

Impedance control for industrial robots

Published by

Proceedings - IEEE International Conference on Robotics and Automation

Summary

conference-paper

Modular dynamic modeling and simulation of grasping

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Summary

conference-paper

Torque ripple adaptive rejection in brushless motors

Published by

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Summary

conference-paper

Analytical Formulation of the Classical Friction Model for Motion Analysis and Simulation

Published by

Mathematical and Computer Modelling of Dynamical Systems

Summary

journal-article

Coulomb friction limit cycles in elastic positioning systems

Published by

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Summary

journal-article

Force oscillations in contact motion of industrial robots: An experimental investigation

Published by

IEEE/ASME Transactions on Mechatronics

Summary

journal-article

Modelling and simulation of an agricultural tracked vehicle

Published by

Journal of Terramechanics

Summary

journal-article

Modular dynamic virtual-reality modeling of robotic systems

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IEEE Robotics and Automation Magazine

Summary

journal-article

LQG control of elastic servomechanisms based on motor position measurements

Published by

International Workshop on Advanced Motion Control, AMC

Summary

conference-paper

Online identification and compensation of torque disturbances in permanent magnet ac motors

Published by

IECON Proceedings (Industrial Electronics Conference)

Summary

conference-paper

Compensation of motor torque disturbances in industrial robots

Published by

Proceedings - IEEE International Conference on Robotics and Automation

Summary

conference-paper

Impact modeling and control for industrial manipulators

Published by

IEEE Control Systems Magazine

Summary

journal-article

Modeling, identification, and compensation of pulsating torque in permanent magnet AC motors

Published by

IEEE Transactions on Industrial Electronics

Summary

journal-article

Hybrid modeling and simulation for the design of an advanced industrial robot controller

Published by

IEEE Robotics and Automation Magazine

Summary

journal-article

Toward the implementation of hybrid position/force control in industrial robots

Published by

IEEE Transactions on Robotics and Automation

Summary

journal-article

Experimental analysis of the disturbances affecting contact force in industrial robots

Published by

Proceedings - IEEE International Conference on Robotics and Automation

Summary

conference-paper

Implicit force control for industrial robots in contact with stiff surfaces

Published by

Automatica

Summary

journal-article

The structured design of an industrial robot controller

Published by

Control Engineering Practice

Summary

journal-article

Systematic dynamic modelling of mechanical systems containing kinematic loops

Published by

Mathematical and Computer Modelling of Dynamical Systems

Summary

journal-article

Systematic dynamic modelling of mechanical systems containing kinematic loops

Published by

Mathematical Modelling of Systems (Netherlands)

Summary

journal-article

On the identifiability of the time delay with least-squares methods

Published by

Automatica

Summary

journal-article

Simulating discontinuous phenomena affecting robot motion

Published by

Journal of Intelligent and Robotic Systems: Theory and Applications

Summary

journal-article

The recursive estimation of time delay in sampled-data control systems

Published by

Control and Dynamic Systems

Summary

book

On the stability of integral force control in case of contact with stiff surfaces

Published by

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Summary

journal-article

Motor and load velocity estimation for digital servo drives: an application to robots with elastic joints

Published by

IECON Proceedings (Industrial Electronics Conference)

Summary

conference-paper

Joint stiffness estimation based on force sensor measurements in industrial manipulators

Published by

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Summary

journal-article

Decoupling force and motion control in industrial robots

Published by

Control Engineering Practice

Summary

journal-article

Monitoring and diagnosis of a grinding process

Published by

IFAC Symposia Series

Summary

conference-paper

Recursive estimation of time delay in sampled systems

Published by

Automatica

Summary

journal-article

Robust Design of Cascade Control

Published by

IEEE Control Systems Magazine

Summary

journal-article

A novel approach to speed control of hydro power stations

Published by

Automatica

Summary

journal-article

Gianni Ferretti