Luca Massimiliano Capisani

About

Luca Massimiliano Capisani is a control systems researcher whose work sits at the intersection of robotics, sliding mode control, and fault diagnosis. His most significant contributions center on the development of advanced model-based fault detection and isolation schemes for robotic manipulators, most notably leveraging higher-order and second-order sliding mode observers to identify actuator and sensor faults in real time — work that has collectively attracted over 270 citations across his two landmark diagnostic papers (2008, 2012). Capisani has also made substantial contributions to motion and interaction control, proposing trajectory planning strategies that allow manipulators to navigate unknown environments autonomously, earning 115 citations for that effort alone. His research extends to robust force control for series elastic actuators, addressing the safety-critical demands of human-robot interaction in assistive and rehabilitation robotics. On the systems identification front, he developed practical MIMO closed-loop identification procedures using weighted least squares methods, facilitating more accurate robot modeling in industrial settings. His networked control and hybrid position/force control work further demonstrates his range across both theoretical and experimental robotics. With over 700 total citations, Capisani's portfolio represents a rigorous and practically grounded body of research that continues to inform modern robot control system design.

Research Focus

Key Achievements

Top Papers

1. 1
   Manipulator Fault Diagnosis via Higher Order Sliding-Mode Observers

   160 citations · 2012
2. 2
   Fault Detection for Robot Manipulators via Second-Order Sliding Modes

   116 citations · 2008
3. 3
   Trajectory Planning and Second-Order Sliding Mode Motion/Interaction Control for Robot Manipulators in Unknown Environments

   115 citations · 2011
4. 4
   MIMO Closed Loop Identification of an Industrial Robot

   95 citations · 2010
5. 5
   Design and experimental validation of a second-order sliding-mode motion controller for robot manipulators

   72 citations · 2008
6. 6
   Robust Force Control of Series Elastic Actuators

   59 citations · 2014
7. 7
   Second order sliding mode motion control of rigid robot manipulators

   48 citations · 2007
8. 8
   Real-time networked control of an industrial robot manipulator via discrete-time second-order sliding modes

   21 citations · 2010
9. 9
   MIMO identification with optimal experiment design for rigid robot manipulators

   19 citations · 2007
10. 10
    Hybrid position/force sliding mode control of a class of robotic manipulators

    17 citations · 2009

Key Collaborators

Contact & Links