Papers
12
Total Citations
268
H-Index
7
About
Leonid Fridman is a leading authority in sliding mode control and its applications to robotics and fault diagnosis. His research focuses on higher-order sliding mode (HOSM) observers and algorithms, which he has applied to enhance the reliability and performance of robotic systems. A key contribution is his work on manipulator fault diagnosis, where he developed HOSM-based schemes to detect and isolate actuator and sensor faults in robot manipulators—a method that has garnered over 160 citations. He has also pioneered techniques for vibration damping in elastic robotic structures and trajectory tracking for differential drive robots using continuous sliding mode algorithms like the Super-Twisting Algorithm. Notably, Fridman has advanced the estimation of absolute orientation in biped robots without direct sensors, using HOSM observers to generate periodic motion in underactuated systems. His work bridges theoretical rigor with practical implementation, making him a respected figure in the control systems community. With a career spanning decades, his contributions continue to influence modern robotics and fault-tolerant control.
Research Focus
Key Achievements
Top Papers
- 1Manipulator Fault Diagnosis via Higher Order Sliding-Mode Observers160 citations · 2012
- 2Vibration damping in elastic robotic structures via sliding modes32 citations · 1997
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- 7From adaptive control to variable structure systems – seeking harmony7 citations · 2016
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