Boris Curk

About

Boris Curk is a robotics and control systems researcher whose work has significantly advanced the field of intelligent robot motion control, particularly through the integration of sliding mode control (SMC) with modern computational techniques. His research spans variable structure control (VSC), neural network-based control, perturbation estimation, and impedance control, with a consistent focus on making robotic systems robust against uncertainties and external disturbances. Curk's most influential contribution, "Neural Network Sliding Mode Robot Control" (1997, 58 citations), elegantly bridges machine learning and classical control theory by formulating neural network control as a class of variable structure systems, embedding robustness directly into the learning process. His closely cited work on observer-based sliding mode control (1994, 56 citations) introduced joint acceleration estimation and load compensation strategies that rendered control systems insensitive to parameter variations — a landmark result for nonlinear robotic systems. Beyond manipulator control, Curk extended his expertise to nonholonomic and underactuated systems, notably modeling and controlling the gyroscopic Powerball® device, demonstrating breadth across challenging mechanical configurations. With over 168 combined citations, his body of work remains a meaningful reference for researchers designing reliable, disturbance-tolerant controllers for advanced robotic applications.

Research Focus

Key Achievements

Top Papers

1. 1
   Neural network sliding mode robot control

   58 citations · 1997
2. 2
   Observer-based sliding mode control of a robotic manipulator

   56 citations · 1994
3. 3
   Sliding mode control with perturbation estimation: application on DD robot mechanism

   15 citations · 2001
4. 4
   Robust sliding mode based impedance control

   10 citations · 2002
5. 5
   Modelling of the robotic Powerball®: a nonholonomic, underactuated and variable structure-type system

   8 citations · 2010
6. 6
   Chattering Reduction in VSC Systems of Robotic Manipulators

   7 citations · 1996
7. 7
   Continuous Sliding Mode Control of DD Robot Mechanism

   5 citations · 1997
8. 8
   VSS Control of Robotic Manipulators by Joint Acceleration Controller

   4 citations · 1993
9. 9
   Control of nonholonomic robotic load

   3 citations · 2008
10. 10
    Improved perturbation estimation in sliding mode motion control of DD robot

    2 citations · 2003

Key Collaborators

Contact & Links