Ing. Květoslav Belda, Ph.D.
Research associate

Department:
Department of Adaptive Systems
Research interests:
model-based predictive control design, mechatronic systems, industrial robotics
Biography
Publication list
Personal page | |||
Education: | |||
2006 | – | Ph.D. | Defended Dissertation: Control of Parallel Robotic Structures Driven by Electromotors |
2002 | – | 2005 | Doctoral study: Faculty of Electrical Engineering, CTU in Prague; CAS UTIA |
2003 | – | Ph.D. | Defended Dissertation: Control of Redundant Parallel Structures of Robotic Systems |
1999 | – | 2002 | Doctoral study: Faculty of Mechanical Engineering, CTU in Prague; CAS UTIA |
1999 | – | Ing. | (M.Sc.) honours degree, Master’s thesis: Cautions Strategy in LQ Adaptive Controllers |
1994 | – | 1999 | Master’s study: Faculty of Mechanical Engineering, CTU in Prague |
1994 | Graduation exam (distinction) | ||
1990 | – | 1994 | High technical school BETLEMSKA, Prague 1 |
Awards: | |||
2010 | CAS UTIA award for the best application, robotic device, design and implementation | ||
1999 | Hlavka’s prize for an outstanding master’s study at the CTU in Prague | ||
Other activities: | |||
2011 | – | still | Representative of UTIA for ECPE (European Centre for Power Electronics) |
Books and chapters
- Output-Feedback Model Predictive Control Using Set of State Estimates, Informatics in Control, Automation and Robotics. ICINCO 2021 : Revised Selected Papers, p. 151-162, Eds: Gusikhin O., Madani K., Nijmeijer H. Download DOI: 10.1007/978-3-031-26474-0_8 [2023] :
- Nonlinear Model Predictive Control Algorithms for Industrial Articulated Robots, Informatics in Control, Automation and Robotics : 15th International Conference, ICINCO 2018, Porto, Portugal, July 29-31, 2018, Revised Selected Papers, p. 230-251, Eds: Gusikhin O., Madani K. Download DOI: 10.1007/978-3-030-31993-9_11 [2019] :
Journal articles
- Modelling, Control Design and Inclusion of Articulated Robots in Cyber-Physical Factories, Actuators 14 Download Download DOI: 10.3390/act14030129 [2025] :
- Sensor Fusion for Power Line Sensitive Monitoring and Load State Estimation, Sensors 23 Download Download DOI: 10.3390/s23167173 [2023] :
- Structure Design and Solution of Kinematics of Robot Manipulator for 3D Concrete Printing, IEEE Transactions on Automation Science and Engineering 19 4 (2022), p. 3723-3734 Download Download DOI: 10.1109/TASE.2021.3133138 [2022] :
- Model Predictive Control for Offset-Free Reference Tracking, Transactions on Electrical Engineering 5 1 (2016), p. 8-13 Download DOI: 10.14311/TEE.2016.1.008 [2016] :
- Explicit Generalized Predictive Control of Speed and Position of PMSM Drives, IEEE Transactions on Industrial Electronics 63 6 (2016), p. 3889-3896 Download DOI: 10.1109/TIE.2016.2515061 [2016] :
- Design and Modelling of Distributed Industrial Manipulation System with Wireless Operated Moving Manipulation, Transactions on Electrical Engineering 4 3 (2015), p. 69-75 Download [2015] :
- Mathematical Modelling and Predictive Control of Permanent Magnet Synchronous Motor Drives, Transactions on Electrical Engineering 2 4 (2013), p. 114-120 Download [2013] :
- Wireless communication for control of manipulation systems, Archives of Control Sciences 22 1 (2012), p. 29-41 Download [2012] :
- Probabilistic Design and Tuning of LQ Control, Archives of Control Sciences 19 4 (2009), p. 355-368 Download [2009] :
- Probabilistically Tuned LQ Control for Mechatronic Applications, AT&P Journal plus 9 2 (2009), p. 19-24 Download [2009] :
- Paralelní robotické struktury a moderní metody jejich řízení, Automatizace 52 5 (2009), p. 296-300 Download [2009] :
- Range-Space Predictive Control for Optimal Robot Motion, International Journal of Circuits, Systems and Signal Processing 1 1 (2008), p. 1-7 Download [2008] :
- Input-output formulation of multidimensional adaptive predictive control, AT&P Journal plus 7 2 (2007), p. 118-123 Download [2007] :
- Prediktivní řízení pro mechatronické systémy, Automatizace 50 4 (2007), p. 272-274 Download [2007] :
- Adaptive Generalized Predictive Control for Mechatronic Systems, WSEAS Transactions on Systems 5 8 (2006), p. 1830-1837 Download [2006] :
- State-space Generalized Predicitve Control for redundant parallel robots, Mechanics Based Design of Structures and Machines 31 3 (2003), p. 413-432 Download [2003] :
Other publications
- Motion Control Unit Design for Control Prototyping of Modern BLDC/PMSM Drives and Piezo Actuators, Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics (ICINCO 2024), p. 579-590, Eds: Gini Giuseppina, Precup Radu-Emil, Filev Dimitar Download Download DOI: 10.5220/0012999300003822 [2024] :
- Identification of Piezoelectric Actuator Using Bayesian Approach and Neural Networks, Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics (ICINCO 2024), p. 591-599, Eds: Gini Giuseppina, Precup Radu-Emil, Filev Dimitar Download Download DOI: 10.5220/0013011700003822 [2024] :
- Mechatronics and Robotics Week – Blended Intensive Programme 2024 Download [2024] :
- Particle Swarm Optimisation for Model Predictive Control Adaptation, Proceedings of the 27th International Conference on Circuits, Systems, Communications and Computers - CSCC 2023, p. 144-149 Download DOI: 10.1109/CSCC58962.2023.00030 [2023] :
- Control Principles of Stationary Articulated Robots Used in Cyber-Physical Factories, Proceedings of the 27th International Conference on Circuits, Systems, Communications and Computers - CSCC 2023, p. 117-122 Download DOI: 10.1109/CSCC58962.2023.00026 [2023] :
- Output-feedback MPC for Robotic Systems under Bounded Noise, Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics, p. 574-582, Eds: Gusikhin O., Nijmeijer H., Madani K. Download DOI: 10.5220/0010557705740582 [2021] :
- Explicit Model Predictive Control of PMSM Drives, Proceedings of the IEEE 30th International Symposium on Industrial Electronics (ISIE) Download [2021] :
- Control Principles of Autonomous Mobile Robots Used in Cyber-Physical Factories, Proceedings of the 2021 23rd International Conference on Process Control (PC), p. 96-101, Eds: Paulen R., Fikar M. Download [2021] :
- Energy Optimization in Motion Planning of a Two-Link Manipulator using Bernstein Polynomials, Proceedings of the ICCC 2021: 22nd International Carpathian Control Conference Download [2021] :
- Output-Feedback Model Predictive Control for Systems under Uniform Disturbances, Proceedings of the 7th International Conference on Control, Decision and Information Technologies (CoDIT) 2020, p. 897-902 Download DOI: 10.1109/CoDIT49905.2020.9263867 [2020] :
- Model Predictive Control with Reference Anisotropic Control for Robot Motion with Disturbed Measured Outputs, Proceedings of the European Control Conference (ECC 2020), p. 1111-1116 Download DOI: 10.23919/ECC51009.2020.9143948 [2020] :
- Path Modeling and 3D Robot Visualization for Model-Based Control of Articulated Robots, Preprints of the 15th European Workshop on Advanced Control and Diagnosis (ACD 2019), p. 1-16 Download [2019] :
- Smoothing and Time Parametrization of Motion Trajectories for Industrial Machining and Motion Control, Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019), p. 229-236, Eds: Gusikhin Oleg, Madani Kurosh, Zaytoon Janan Download [2019] :
- Predictive and Anisotropic Control Design for Robot Motion under Stochastic Disturbances, Proceedings of the 17th European Control Conference, p. 1374-1379 Download DOI: 10.23919/ECC.2019.8795702 [2019] :
- Nonlinear Design of Model Predictive Control Adapted for Industrial Articulated Robots, ICINCO 2018 : Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics, p. 71-80, Eds: Madani Kurosh, Gusikhin Oleg Download DOI: 10.5220/0006833500710080 [2018] :
- Online Tuned Model Predictive Control for Robotic Systems with Bounded Noise, Proceedings of the 22nd IEEE International Conference on Methods and Models in Automation and Robotics, p. 694-699 Download DOI: 10.1109/MMAR.2017.8046912 [2017] :
- Application of Hamiltonian Mechanics to Control Design for Industrial Robotic Manipulators, Proceedings of the 22nd IEEE International Conference on Methods and Models in Automation and Robotics, p. 390-395 Download DOI: 10.1109/MMAR.2017.8046859 [2017] :
- Predictive Control for Offset-Free Motion of Industrial Articulated Robots, Proceedings of the 22nd IEEE International Conference on Methods and Models in Automation and Robotics, p. 688-693 Download DOI: 10.1109/MMAR.2017.8046911 [2017] :
- Predictive Control of 5 DOF Robot Arm of Autonomous Mobile Robotic System Motion Control Employing Mathematical Model of the Robot Arm Dynamics, Proceedings of the 21th International Conference on Process Control 2017, p. 339-344, Eds: Fikar Miroslav, Kvasnica Michal Download DOI: 10.1109/PC.2017.7976237 [2017] :
- State Estimation and Model Predictive Control for the Systems with Uniform Noise, IFAC-PapersOnLine. Volume 49, Issue 7 - 11th IFAC Symposium on Dynamics and Control of Process SystemsIncluding Biosystems DYCOPS-CAB 2016, p. 967-972 Download DOI: 10.1016/j.ifacol.2016.07.327 [2016] :
- Mathematical Modeling of lndustrial Robots Based on Hamiltonian Mechanics, Proceeding of 17th International Carpathian Control Conference (ICCC), p. 813-818 Download DOI: 10.1109/CarpathianCC.2016.7501208 [2016] :
- Robot Control in Terms of Hamiltonian Mechanics, ENGINEERING MECHANICS 2016, Eds: Zolotarev I., Radolf V. Download [2016] :
- Physical Modelling of Energy Consumption of Industrial Articulated Robots, Proceedings of the 15th International Conference on Control, Automation and Systems (ICCAS 2015), p. 784-789 Download DOI: 10.1109/ICCAS.2015.7364727 [2015] :
- On-line Solution of System Constraints in Generalized Predictive Control Design, Proceedings of the 20th International Conference on Process Control 2015, p. 25-30, Eds: Fikar M., Kvasnica M. Download DOI: 10.1109/PC.2015.7169933 [2015] :
- Concepts of Modeling and Control of Industrial Articulated Robots for Efficient, Sustainable and Safe Production, 3rd International Chemnitz Manufacturing Colloquium. ICMC 2014. Proceedings Part 1, p. 571-582 Download [2014] :
- Parallel Kinematic Machine Robot and Its Real-Time Control from Linux OS (2014) Download [2014] :
- Explicit Generalized Predictive Algorithms for Speed Control of PMSM Drives Fast Explicit Form with Field Weakening and Current Limitation, Proceedings of the IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society, p. 2833-2838 Download DOI: 10.1109/IECON.2013.6699580 [2013] :
- On Offset Free Generalized Predictive Control, Proceedings of the 19th International Conference on Process Control 2013, p. 395-400, Eds: Fikar Miroslav, Kvasnica Michael Download [2013] :
- Speed Control of PMSM Drives by Generalized Predictive Algorithms, Proceedings of the 38th Annual Conference of the IEEE Industrial Electronics Society, p. 2002-2007 Download DOI: 10.1109/IECON.2012.6388893 [2012] :
- Study of Predictive Control for Permanent Magnet Synchronous Motor Drives, Proceedings of the 17th International Conference on Methods and Models in Automation and Robotics, p. 522-527 Download DOI: 10.1109/MMAR.2012.6347831 [2012] :
- Path Simulator for Machine Tools and Robots, Proceedings of the 17th International Conference on Methods and Models in Automation and Robotics, p. 373-378 Download DOI: 10.1109/MMAR.2012.6347860 [2012] :
- Distributed Wireless Mechatronic System Operated from MATLAB-Simulink Environment, Technical Computing Prague 2011 19th Annual Conference Proceedings, p. 1-8 Download [2011] :
- On-line Parameter Tuning of Model Predictive Control, Proceedings of the 18th IFAC World Congress, p. 5489-5494, Eds: Bittanti Array, Cenedese Array, Zampieri Array Download [2011] :
- Start-up and Control Operations for Top Milling Machine Tools, Proceedings of the International Chemnitz Manufacturing Colloquium ICMC 2010, p. 719-726 Download [2010] :
- Wireless Control Communication for Mechatronic Systems, Proceedings of the 11th International PhD Workshop on Systems and Control a Young Generation Viewpoint, p. 68-73 Download [2010] :
- Robotické zařízení, Úřad průmyslového vlastnictví (Praha, 2010) Download [2010] :
- Self Fine Tuning of LQ Control With Fixed Model, Proc. of the 9th Int. Conf. Process Control 2010 Download [2010] :
- On Time Parameterizations of User Demands in Mechatronics, Proceedings of the 10th International PhD Workshop on Systems and Control, p. 1-6, Eds: Hofman Radek, Šmídl Václav, Pavelková Lenka Download [2009] :
- Probabilistically Tuned LQ Control for Mechatronic Systems, Proceedings of the 17th International Conference on Process Control '09, p. 37-43, Eds: Fikar Miroslav, Kvasnica Michal Download [2009] :
- Homing, Calibration and Model-Based Predictive Control for Planar Parallel Robots, UKACC International Conference on Control 2008 Proceedings, p. 1-6 Download [2008] :
- FULLY PROBABILISTIC CONTROL DESIGN FOR GAUSSIAN STOCHASTIC SYSTEMS, Proc. the 8th Int. Sci.-Tech. Conf. Process Control 2008, p. 1-8 Download [2008] :
- Predictive Control with Approximately Given Reference Signal, Proc. the 8th Int. Sci.-Tech. Conf. Process Control 2008, p. 1-8 Download [2008] :
- Automatic Control and Its Means in Mechatronics and Robotics, Proceedings of 8th Int. PhD Workshop on Systems and Control a Young Generation Viewpoint, p. 4-9 Download [2007] :
- Range-Space Modification of Predictive Control for Parallel Robots, Mathematical Methods and Computational Techniques in Research and Education, Proc. of the 3rd WSEAS Int. Conf. on Dynamical Systems and Control, p. 235-240, Eds: Dondon P., Mladenov V., Impedovo S., Cepisca C. Download [2007] :
- Concepts of Model-Based Control and Trajectory Planning for Parallel Robots, Proceedings of 13th IASTED International Conference on Robotics and Applications, p. 15-20 Download [2007] :
- Multidimensional Input-Output Formulation of Adaptive Predictive Control, Proceeding of International Conference on Process Control 2007 /16./, p. 1-6, Eds: Mikleš J., Fikar M., Kvasnica M. Download [2007] :
- Predictive Control for Mechatronic Laboratory Models, Proceedings of the 7th International PhD Workshop: Interplay of Societal and Technical Decision-Making, Young Generation Viewpoint, p. 1-6 Download [2006] :
- Adaptive predictive control for simple mechatronic systems, Proceedings of the WSEAS CSCC & EE International Conferences, p. 307-312, Eds: Bardis N., Mladenov V. Download [2006] :
- Predictive control with time-variant state-space models, Proceedings of the 7th International Scientific - Technical Conference. Process Control 2006, p. 1-15, Eds: Taufer I., Dušek F., Honc D. Download [2006] :
- Predictive control of redundant parallel robots and trajectory planning, Proceedings of the Parallel Kinematic Machines in Research and Practice. PKS 2006, p. 497-513 Download [2006] :
- Predictive control for modern industrial robots. Algorithms and their applications, Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics, p. 3-10, Eds: Filipe J., Cetto J. A., Ferrier J. L., INSTICC (Barcelona, 2005) Download [2005] :
- Incremental state-space predictive controller with state space Kalman estimation, Proceedings of the 15th International Conference on Process Control 2005, p. 1-6, Slovak University of Technology (Bratislava, 2005) Download [2005] :
- Predictive control applied to planar parallel robots, Preprints of the 16th World Congress of the International Federation of Automatic Control, p. 1-6, Eds: Horáček P., Šimandl M., Zítek P., IFAC (Prague, 2005) Download [2005] :
- Implementation of control in redundant parallel robotic structures, CTU Reports. Proceedings of Workshop 2005, p. 170-171, ČVUT (Praha, 2005) Download [2005] :
- Predictive control algorithms applied to parallel robots, Radioelektronika, elektrotechnika i energetika, p. 111-112, Moskovskij energetičeskij institut (Moskva, 2005) Download [2005] :
- Control of Paralle Robotic Structures Driven by Electromotors. Ph.D. Thesis, ČVUT FEL (Praha, 2005) [2005] :
- Generalized predictive control and state space Kalman filter estimation, Proceedings of the 6th International PhD Workshop on Systems and Control, Young Generation Viewpoint, p. 1-6 Download [2005] :
- Various utilization of predictive control in parallel machine tools, Proceedings of the 5th International PhD Workshop on Systems and Control - a Young Generation Viewpoint, p. 11-16 Download [2004] :
- PREDICTIVE CONTROL – ALGORITHMS, TESTS AND WEB PUBLICATION VIA MATLAB - SIMULINK ENVIRONMENT (R 14), MATLAB 2004. Sborník příspěvků 12. ročníku konference, p. 45-50 Download [2004] :
- Digital Control of Over-Actuated Parallel Robots, Proceedings of the 10th IEEE International Conference on Methods and Models in Automation and Robotics, p. 819-824, Eds: Domek S., Kaszyski R. Download [2004] :
- Model-based control for parallel robot kinematics, Proceedings of the 3rd International Congress on Mechatronics. MECH2K4, p. 1-15, Eds: Guran A., Valášek M. Download [2004] :
- Study of predictive control algorithms for parallel robot structures, Proceedings of the 6th International Scientific - Technical Conference. Process Control 2004, p. 1-9, Eds: Krejčí S., Taufer I. Download [2004] :
- Model-based control versus classical control for parallel robots, Multiple Participant Decision Making. CMP'04, p. 1-9, Eds: Andrýsek J., Kárný M., Kracík J. Download [2004] :
- Structured model-based control of redundant parallel robot kinematics, Parallel Kinematic Machines in Research and Practice. The 4th Chemnitz Parallel Kinematics Seminar. Proceedings, p. 701-705 Download [2004] :
- Control of Parallel Robotic Structures Driven by Electromotors, Czech Technical University (Prague, 2004) [2004] :
- Redundant parallel robots and their control. Abstract, Radioelektronika, elektrotechnika i energetika. Tezisy dokladov, p. 208 Download [2004] :
- Kinematics and dynamics of parallel structures for control design, Collection of Presentations of the 4th International PhD Workshop Information Technologies and Control, p. 12-17, ÚTIA AV ČR (Praha, 2003) Download [2003] :
- Parallel robotic structures and their control in SIMULINK environment, MATLAB 2003. Sborník příspěvků 11. ročníku konference, p. 63-71, VŠCHT (Praha, 2003) Download [2003] :
- Collection of Presentations of the 4th International PhD Workshop Information Technologies & Control, ÚTIA AV ČR (Praha, 2003) [2003] :
- Kinematics and dynamics of parallel structures for control design. Abstract, Proceedings of the 4th International PhD Workshop Information Technologies & Control. Young Generation Viewpoint, p. 2, ÚTIA AV ČR (Praha, 2003) [2003] :
- 4th International PhD Workshop Information Technologies & Control. Young Generation Viewpoint (2003) [2003] :
- The study of the properties of independent (decentralized) and centralized control of redundant parallel robots. Abstract, CTU Reports. Proceedings of Workshop 2003, p. 226-227, ČVUT (Praha, 2003) Download [2003] :
- Proceedings of the 4th International PhD Workshop Information Technologies & Control. Young Generation Viewpoint, ÚTIA AV ČR (Praha, 2003) [2003] :
- Singular cases of the planar parallel robot, Engineering Mechanics 2003, p. 1-8, Eds: Náprstek J., Fischer C., Czech Technical University (Prague, 2003) Download [2003] :
- Advanced control for redundant parallel robots, Proceedings of the 14th International Conference on Process Control 2003, p. 1-7, Eds: Mikleš J., Dvoran J., Fikar M., Slovak University of Technology (Bratislava, 2003) Download [2003] :
- Solution of forward kinematics of redundant parallel robot for predictive control. Abstract, CTU Reports. Proceedings of Workshop 2002, p. 1-2, ČVUT (Praha, 2002) Download [2002] :
- Control of Redundant Parallel Structures of Robotic Systems. Dissertation (2002) [2002] :
- Generalized Predictive Control for real-time use in area of parallel robots, Proceedings of the 3rd International PhD Workshop: Advances in Supervision and Control Systems, Young Generation Viewpoint, p. 1-7, Jožef Stefan Institute (Strunjan, 2002) Download [2002] :
- Real-time simulation and visualization of high-level model-based control of redundant parallel robots, MATLAB 2002. Sborník příspěvků 10. ročníku konference, p. 21-27, VŠCHT (Praha, 2002) Download [2002] :
- Redundantní paralelní roboty a jejich řízení, FS ČVUT (Praha, 2002) [2002] :
- Decentralized and centralized control of redundant parallel robot constructions, Proceedings of the 10th Mediterranean Conference on Control and Automation - MED 2002, Instituto Superior Técnico (Lisboa, 2002) Download [2002] :
- State-space generalized predictive control for redundant parallel robots, Virtual Nonlinear Multibody Systems. NATO Advanced Study Institute, p. 9-14, Eds: Schiehlen W., Valášek M., Czech Technical University (Praha, 2002) Download [2002] :
- The direct kinematics of redundant parallel robot for predictive control, Proceedings of the 5th International Scientific - Technical Conference Process Control 2002, p. 1-10, Eds: Taufer I., Krejčí S., VŠCHT (Pardubice, 2002) Download [2002] :
- Control and calibration of redundantly actuated parallel robots, Development Methods and Application Experience of Parallel Kinematics. Conference Proceedings, p. 411-427, Fraunhofer IWU (Chemnitz, 2002) Download [2002] :
- The antibacklash task in the path control of redundant parallel robots (subtopic: preparation of real-time control), The 2nd International PhD Student Workshop on Systems and Control - "Young Generation's Viewpoint". Proceedings, p. 11-15, CAI (Budapest, 2001) Download [2001] :
- Implementation of Sliding Mode Control in SIMULINK 4.1 (R12.1), Sborník příspěvků 9.ročníku konference MATLAB 2001, p. 9-13, Eds: Procházka A., Uhlíř J., VŠCHT (Praha, 2001) Download [2001] :
- The direct kinematics for path control of redundant parallel robots, Advances in Systems Science: Measurement, Circuits and Control, p. 253-258, Eds: Mastorakis N. E., Pecorelli-Peres L. A., WSES Press (Rethymno, 2001) Download [2001] :
- The antibacklash task in the path control of redundant parallel robots, Proceedings of the 13th International Conference on Process Control '01, Eds: Mikleš J., Dvoran J., Fikar M., Slovak University of Technology (Bratislava, 2001) Download [2001] :
- Study of control of planar redundant parallel robot, Proceedings of the IASTED International Conference Modelling, Identification, and Control, p. 694-699, Acta Press (Calgary, 2001) Download [2001] :
- Graphical environment for simulation of the control of planar redundant parallel robot, Sborník příspěvků 8. ročníku konference MATLAB 2000, p. 38-42, VŠCHT (Praha, 2000) Download [2000] :
- Graphical Environment for Testing of the Control of Planar Parallel Robot, ÚTIA AV ČR (Praha, 2000) [2000] :
- Design and simulation of predictive control of drives of planar redundant parallel robot, Proceedings of the 4th International Scientific-Technical Conference. Process Control 2000. ŘÍP 2000, p. 20-27, University of Pardubice (Pardubice, 2000) Download [2000] :