-
Higher-Order Sliding Mode Control - Stability analysis and application to underwater snake robots
Borlaug, Ida-Louise Garmann (Master thesis, 2017)In this thesis sliding mode control, sliding mode observers and stability theory regarding cascaded systems and finite time stable properties are presented. The stability properties for the closed-loop dynamics for a general ... -
Hover Control of Thrust Vectoring VTOL Flying Wing - Modeling, Control and Development of Test Platform with Experimental Results
Coates, Erlend Magnus Lervik (Master thesis, 2017)This work consists of theoretical and practical advances in the development of a fully thrust-vectoring hybrid vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). A high-fidelity dynamic simulation model ... -
Hybrid Modelling and Control of Obstacle-Aided Snake Robot Locomotion
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2010)A snake can traverse cluttered and irregular environments by using irregularities around its body as push points to aid the propulsion. This characteristic feature of biological snake locomotion, which is denoted as ... -
Identification, Inversion and Implementaion of the Preisach Hysteresis Model in Nanopositioning
Stakvik, Jon Åge (Master thesis, 2014)Atomic force microscopes offer the possibility for imaging a sample topography with accuracy in the nanometer scale. This kind of performance is impossible without actuators enabling a certain accuracy. A frequently used ... -
Implementation and Comparison of Attitude Estimation Methods for Agricultural Robotics
Utstumo, Trygve; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2013)The field of precision agriculture increasingly utilize and develop robotics for various applications, many of which are dependent on high accuracy localization and attitude estimation. Special attention has been put towards ... -
Improvement of a Robotic Manipulator Model Based on Multivariate Residual Modeling
Gale, Serge; Rahmati, Hodjatolah; Gravdahl, Jan Tommy; Martens, Harald (Journal article; Peer reviewed, 2017)A new method is presented for extending a dynamic model of a six degrees of freedom robotic manipulator. A non-linear multivariate calibration of input–output training data from several typical motion trajectories is carried ... -
Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots
Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2016)Increasing efficiency by improving locomotion methods is a key issue for underwater robots. Moreover, a number of different control design challenges must be solved to realize operational swimming robots for underwater ... -
Integral Line-of-Sight for path following of underwater snake robots
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy (Journal article, 2014)This paper considers straight line path following control of underwater snake robots in the presence of constant irrotational currents. An integral line-of-sight (LOS) guidance law is proposed, which is combined with a ... -
Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations and Experiments
Caharija, Walter; Pettersen, Kristin Ytterstad; Bibuli, Marco; Calado, Pável; Zereik, Enrica; Braga, Jose; Gravdahl, Jan Tommy; Sørensen, Asgeir Johan; Milovanovic, Milan; Bruzzone, Gabriele (Journal article; Peer reviewed, 2016)This paper presents an extensive analysis of the integral line-of-sight (ILOS) guidance method for path-following tasks of underactuated marine vehicles, operating on and below the sea surface. It is shown that due to the ... -
Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments
Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)This paper proposes and experimentally validates a straight line path following controller for underwater snake robots in the presence of constant irrotational currents of unknown direction and magnitude. An integral ... -
Kalman filter for attitude determination of student satellite
Rohde, Jan (Master thesis, 2007)In the autumn of 2006 a satellite project was started at NTNU. The goal of the project is two-folded, first it seeks to create more interest and expertise around the field of space technology, secondly to create a satellite ... -
Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks
Sverdrup-Thygeson, Jørgen; Moe, Signe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2017)This paper proposes a novel method for kinematic singularity avoidance for robot manipulators. Using set-based singularity avoidance tasks within the singularity-robust multiple task priority framework, avoidance of kinematic ... -
Lateral undulation of snake robots: A simplified model and fundamental properties
Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2013)This paper considers the lateral undulation motion of snake robots. The first contribution of the paper is a model of lateral undulation dynamics developed for control design and stability analysis purposes. The second ... -
Learning Compliant Robotic Manipulation
Myrestrand, Martin Hagen (Master thesis, 2021)Medgjørlig robotmanipulering blir stadig viktigere innen robotstyring. For å utføre komplekse interaksjonsoppgaver i den virkelige verden, er det avgjørende. Automatisk ultralydundersøkelse utført av en robotarm er et ... -
Learning for Model Predictive Control
Seel, Katrine (Doctoral theses at NTNU;2023:261, Doctoral thesis, 2023)This thesis focuses on learning-based control, with an emphasis on control designs for which we can analyze stability and robustness properties. The topic is motivated by the lack of available controllers for complex, ... -
Learning-based Robust Model Predictive Control for Sector-bounded Lur'e Systems
Seel, Katrine; Haring, Mark A. M.; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2021)For dynamical systems with uncertainty, robust controllers can be designed by assuming that the uncertainty is bounded. The less we know about the uncertainty in the system, the more conservative the bound must be, which ... -
Line-of-Sight Curved Path Following for Underactuated USVs and AUVs in the Horizontal Plane under the influence of Ocean Currents
Fossen, Thor I.; Moe, Signe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2016)An essential ability of autonomous unmanned surface vessels (USVs) and autonomous underwater vehicles (AUVs) moving in a horizontal plane is to follow a general two-dimensional path in the presence of unknown ocean currents. ... -
Linear and Nonlinear State Estimation in the Czochralski Process
Rahmanpour, Parsa; Bones, John Atle; Hovd, Morten; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2013)The Czochralski process is the only method used commercially for production of monocrystalline silicon for semiconductor and solar cell applications. This paper explores the use of mathematical modeling as an aid in ... -
Linear Antisymmetric Recurrent Neural Networks
Moe, Signe; Remonato, Filippo; Grøtli, Esten Ingar; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2020)Recurrent Neural Networks (RNNs) have a form of memory where the output from a node at one timestep is fed back as input the next timestep in addition to data from the previous layer. This makes them highly suitable for ... -
Locomotion Efficiency of Underwater Snake Robots with Thrusters
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy (Chapter, 2016)Lately there has been an increasing interest for subsea inspection and intervention tasks, and in particular on solutions which combine smaller size, increased flexibility and maneuverability, and decreased cost. Biologically ...