Jan Swevers - Selected Publications

Robot identification and control

• Combining internal and external robot models for improved model parameter estimation,
  X. Chenut, J.C. Samin, J. Swevers and C. Ganseman,
  Mechanical Systems and Signal Processing, Volume 14, Issue 5, September 2000, Pages 691-704.
• Optimal robot excitation and identification,
  J. Swevers, C. Ganseman, D.B. Tukel, J. de Schutter, H. Van Brussel,
  Robotics and Automation, IEEE Transactions on Volume 13, Issue 5, Oct. 1997 Page(s):730 - 740.
• Experimental robot identification using optimised periodic trajectories,
  J. Swevers, C. Ganseman, J. De Schutter and H. Van Brussel,
  Mechanical Systems and Signal Processing, Volume 10, Issue 5, September 1996, Pages 561-577.
• Combining internal and external robot models to improve model parameter estimation,
  W. Verdonck, J. Swevers, X. Chenut, J.C. Samin,
  Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on Volume 3, 2001 Page(s):2846 - 2851 vol.3
• Experimental identification of robot dynamics for control,
  J. Swevers, C. Ganseman, X. Chenut, J.C. Samin,
  Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on Volume 1, 24-28 April 2000 Page(s):241 - 246 vol.1
• Improving the dynamic accuracy of industrial robots by trajectory pre-compensation,
  W. Verdonck, J. Swevers,
  Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on Volume 4, 11-15 May 2002 Page(s):3423 - 3428 vol.4
• Comparison of control algorithms for flexible joint robots implemented on a KUKA IR 161/60 industrial robot,
  J. Swevers, D. Torfs, M. Adams, J. De Schutter, H. Van Brussel,
  Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on 19-22 June 1991 Page(s):120 - 125 vol.1

Modelling and identification of (non)linear systems

• Excitation design for FRF measurements in the presence of non-linear distortions,
  J. Schoukens, J. Swevers, R. Pintelon and H. Van der Auweraer,
  Mechanical Systems and Signal Processing, Volume 18, Issue 4, July 2004, Pages 727-738.
• Modelling of Sprayer Boom Dynamics by Means of Maximum Likelihood Identification Techniques, Part 1: A Comparison of Input-output and Output-only Modal Testing,
  E. Parloo, P. Guillaume, J. Anthonis, W. Heylen and J. Swevers,
  Biosystems Engineering, Volume 85, Issue 2, June 2003, Pages 163-171.
• Modelling of Sprayer Boom Dynamics by Means of Maximum Likelihood Identification Techniques, Part 2: Sensitivity-based Mode Shape Normalisation,
  E. Parloo, P. Guillaume, J. Anthonis, W. Heylen and J. Swevers,
  Biosystems Engineering, Volume 85, Issue 3, July 2003, Pages 291-298.
• Simple methods and insights to deal with non-linear distortions in FRF-measurements,
  J. schoukens, Y. Rolain, J. Swevers and J. De Cuyper,
  Mechanical Systems and Signal Processing, Volume 14, Issue 4, July 2000, Pages 657-666.
• Sprayer Boom Motion, Part 1: Derivation of the Mathematical Model using Experimental System Identification Theory,
  L. Clijmans, J. Swevers, J. De Baerdemaeker and H. Ramon,
  Journal of Agricultural Engineering Research, Volume 76, Issue 1, May 2000, Pages 61-69.
• Sprayer Boom Motion, Part 2: Validation of the Model and Effect of Boom Vibration on Spray Liquid Deposition,
  L. Clijmans, H. Ramon, P. Sas and J. Swevers,
  Journal of Agricultural Engineering Research, Volume 76, Issue 2, June 2000, Pages 121-128.
• A subspace algorithm for the identification of discrete time frequency domain power spectra,
  P. Van Overschee, B. De Moor, W. Dehandschutter and J. Swevers,
  Automatica, Volume 33, Issue 12, December 1997, Pages 2147-2157.
• Comparison of two different nonlinear state-space identification algorithms,
  J. Paduart, J. Schoukens, K. Smolders, J. Swevers,
  Proceedings of the International Conference on Noise and Vibration Engineering (ISMA2006), Sept. 18-20, 2006, Leuven, Belgium, pp. 2777-2784.
• Identification of a Nonlinear State Space Model for Control using a Feature Space Transformation,
  K. Smolders, M. Witters, J. Swevers, P. Sas,
  Proceedings of the International Conference on Noise and Vibration Engineering (ISMA2006), Sept. 18-20, 2006, Leuven, Belgium, pp. 3331-3342.
• Dynamic characterization of hysteresis elements in mechanical systems,
  W. Symens, F. Al-Bender, J. Swevers, H. Van Brussel,
  American Control Conference, 2002. Proceedings of the 2002 Volume 5, 8-10 May 2002 Page(s):4129 - 4134 vol.5
• Modelling a pneumatic servo positioning system with friction,
  B.M.Y. Nouri, F. Al-Bender, J. Swevers, P. Vanherek, H. van Brussel,
  American Control Conference, 2000. Proceedings of the 2000 Volume 2, 28-30 June 2000 Page(s):1067 - 1071 vol.2

Friction modelling, identification and control

• Nonlocal hysteresis function identification and compensation with neural networks,
  P. Berenyi, G. Horvath, V. Lampaert and J. Swevers,
  Instrumentation and Measurement, IEEE Transactions on Volume 54, Issue 6, Dec. 2005 Page(s):2227 - 2238.
• The generalized Maxwell-slip model: a novel model for friction Simulation and compensation,
  F. Al-Bender, V. Lampaert and J. Swevers,
  Automatic Control, IEEE Transactions on Volume 50, Issue 11, Nov. 2005 Page(s):1883 - 1887.
• Theoretical analysis of the dynamic behavior of hysteresis elements in mechanical systems,
  F. Al-Bender, W. Symens, J. Swevers and H. Van Brussel,
  International Journal of Non-Linear Mechanics, Volume 39, Issue 10, December 2004, Pages 1721-1735.
• Modification of the Leuven integrated friction model structure,
  V. Lampaert, J. Swevers, F. Al-Bender,
  Automatic Control, IEEE Transactions on Volume 47, Issue 4, April 2002 Page(s):683 - 687
• An integrated friction model structure with improved presliding behavior for accurate friction compensation,
  J. Swevers, F. Al-Bender, C. Ganseman, T. Projogo,
  Automatic Control, IEEE Transactions on Volume 45, Issue 4, April 2000 Page(s):675 - 686
• Comparison of model and non-model based friction compensation techniques in the neighbourhood of pre-sliding friction,
  V. Lampaert, J. Swevers, F. Al-Bender,
  American Control Conference, 2004. Proceedings of the 2004 Volume 2, 30 June-2 July 2004 Page(s):1121 - 1126 vol.2
• A generalized Maxwell-slip friction model appropriate for control purposes,
  V. Lampaert, F. Al-Bender, J. Swevers,
  Physics and Control, 2003. Proceedings. 2003 International Conference Volume 4, 20-22 Aug. 2003 Page(s):1170 - 1177 vol.4
• Online identification of hysteresis functions with non-local memory,
  V. Lampaert, J. Swevers,
  Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on Volume 2, 8-12 July 2001 Page(s):833 - 837 vol.2

Control

• Feedback Approach for Reproduction of Field Measurements on a Hydraulic Four Poster,
  J. Anthonis, D. Vaes, K. Engelen, H. Ramon and J. Swevers,
  Biosystems Engineering, Volume 96, Issue 4, April 2007, Pages 435-445.
• A model-free control structure for the on-line tuning of the semi-active suspension of a passenger car,
  J. Swevers, C. Lauwerys, B. Vandersmissen, M. Maes, K. Reybrouck and P. Sas,
  Mechanical Systems and Signal Processing, Volume 21, Issue 3, April 2007, Pages 1422-1436.
• Multivariable feedback design to improve tracking performance on tractor vibration test rig,
  D. Vaes, K. Engelen, J. Anthonis, J. Swevers and P. Sas,
  Mechanical Systems and Signal Processing, Volume 21, Issue 2, February 2007, Pages 1051-1075.
• Experimental validation of different MIMO-feedback controller design methods,
  D. Vaes, J. Swevers and P. Sas,
  Control Engineering Practice, Volume 13, Issue 11, November 2005, Pages 1439-1451.
• Robust linear control of an active suspension on a quarter car test-rig,
  C. Lauwerys, J. Swevers and P. Sas,
  Control Engineering Practice, Volume 13, Issue 5, May 2005, Pages 577-586.
• Off-line feed-forward and feedback control on a vibration rig,
  J. De Cuyper, M. Verhaegen and J. Swevers,
  Control Engineering Practice, Volume 11, Issue 2, February 2003, Pages 129-140.
• Design and experimental validation of robust controllers for machine tool drives with linear motor,
  P. Van den Braembussche, J. Swevers and H. Van Brussel,
  Mechatronics, Volume 11, Issue 5, 1 August 2001, Pages 545-562.
• H8-controller design for a vibrations isolating platform,
  J. Anthonis, J. Swevers, D. Moshou and H. Ramon,
  Control Engineering Practice, Volume 7, Issue 11, November 1999, Pages 1333-1341.
• Comparison of two feedforward design methods aiming at accurate trajectory tracking of the end point of a flexible robot arm,
  D. Torfs, R. Vuerinckx, J. Swevers, J. Schoukens,
  Control Systems Technology, IEEE Transactions on Volume 6, Issue 1, Jan. 1998 Page(s):2 - 14
• Real-time enhancement of reference signals for feedforward control of random noise due to multiple uncorrelated sources,
  W. Dehandschutter, J. van Herbruggen, J. Swevers, P. Sas,
  Signal Processing, IEEE Transactions on [see also Acoustics, Speech, and Signal Processing, IEEE Transactions on] Volume 46, Issue 1, Jan. 1998 Page(s):59 - 69
• Quasi-perfect tracking control of non-minimal phase systems,
  D. Torfs, J. Swevers, J. De Schutter,
  Decision and Control, 1991., Proceedings of the 30th IEEE Conference on 11-13 Dec. 1991 Page(s):241 - 244 vol.1
• Experimental multivariable tracking control on an automotive vibration test rig,
  D. Vaes, J. Swevers, P. Sas,
  Proceedings of the International Conference on Noise and Vibration Engineering (ISMA2004), Sept. 20-22, 2004, Leuven, Belgium, pp. 311-324.
• Average Speed Control of Reciprocating Machinery,
  K. Smolders, B. Demeulenaere, J. DeSchutter, J. Swevers,
  Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation 2005 Page(s):71 - 76
• Gain-scheduling control for mechatronic systems with position-dependent dynamics,
  B. Paijmans, W. Symens, H. Van Brussel, J. Swevers,
  Proceedings of the International Conference on Noise and Vibration Engineering (ISMA2006), Sept. 18-20, 2006, Leuven, Belgium, pp. 93-106.
• Optimal Attenuation of Known Periodic Disturbances: a Convex Control Design Approach,
  G. Pipeleers, B. Demeulenaere, J. De Schutter, J. Swevers,
  Proceedings of the International Conference on Noise and Vibration Engineering (ISMA2006), Sept. 18-20, 2006, Leuven, Belgium, pp. 107-118.
• Vibration and motion control design and trade-off for high-performance mechatronic systems,
  D. Verscheure, B. Paijmans, H. Van Brussel, J. Swevers,
  Control Applications, 2006 IEEE International Conference on Oct. 2006 Page(s):1115 - 1120

Optimization in engineering and dynamic balancing

• A Convex Optimization Framework for Dynamic Balancing of Planar Linkages,
  B. Demeulenaere, J. Swevers, J. De Schutter,
  Proceedings of the International Conference on Noise and Vibration Engineering (ISMA2004), Sept. 20-22, 2004, Leuven, Belgium, pp. 1997-2010.
• Counterweight balancing for machine frame vibration reduction: design and robustness analysis,
  M. Verschuure, B. Demeulenaere, J. Swevers, J. De Schutter,
  Proceedings of the International Conference on Noise and Vibration Engineering (ISMA2006), Sept. 18-20, 2006, Leuven, Belgium, pp. 3699-3714.
• A Linear Programming Approach to the Optimal Design of Spline-Based Motion System Inputs,
  J. De Caigny, B. Demeulenaere, J. Swevers, J.De Schutter,
  Proceedings of the International Conference on Noise and Vibration Engineering (ISMA2006), Sept. 18-20, 2006, Leuven, Belgium, pp. 1287-1302.
• Other work with Bram Demeulenaere can be found here ,
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