Blar i NTNU Open på forfatter "Sætre, Christian Fredrik"
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Excessive Transverse Coordinates for Orbital Stabilization of (Underactuated) Mechanical Systems
Sætre, Christian Fredrik; Shiriaev, Anton; Pchelkin, Stepan; Chemori, Ahmed (Chapter, 2020)Transverse linearization-based approaches have become among the most prominent methods for orbitally stabilizing feedback design in regards to (periodic) motions of underactuated mechanical systems. Yet, in an n-dimensional ... -
Implementation of a quaternion-based PD controller in ROS2 for a generic underwater vehicle with six degrees of freedom
Rowe, Erik; Hustad, Simen; Juliebø, Petter Øvereng; Almenningen, Elias Olsen (Bachelor thesis, 2022)Denne bachelor rapporten omhandler implimentasjonen av en ulineær PD regulator for et generelt undervannsfartøy med 6 frihetsgrader i ROS2. Rapporten vil dekke metodene og løsningen brukt for å utvikle en fungerende regulator ... -
Magnetic levitation system: Design, prototyping and testing of a digital PID-controller
Brønstad, Martin; Deila, Jørn Olav; Dyrskog, Jørgen; Langklopp, Markus (Bachelor thesis, 2022)Denne bacheloroppgaven handler om design, utvikling og bygging av en magnetisk levitasjonsplattform samt posisjonsregulering av en leviterende magnet ved hjelp av en digital PID-regulator. For å oppnå dette har en matematisk ... -
Magnetic levitation system: Design, prototyping and testing of a digital PID-controller
Brønstad, Martin; Deila, Jørn Olav; Dyrskog, Jørgen; Langklopp, Markus (Bachelor thesis, 2022)Denne bacheloroppgaven handler om design, utvikling og bygging av en magnetisk levitasjonsplattform samt posisjonsregulering av en leviterende magnet ved hjelp av en digital PID-regulator. For å oppnå dette har en matematisk ... -
Modeling, Development, and Design of an Inverted Pendulum System
Tredal, Ivo; Solheim, Bjørn K.T.; Vartdal, Ludvig; Tønnesland, Leidulv (Bachelor thesis, 2023)Den inverterte pendelen er et stempel innenfor reguleringsteknikken, og er gjenkjennbar i klassiske mekaniske systemer som Furuta-pendelen og vogn-pendel-systemet. Denne oppgaven legger fokuset på reaksjonshjulpendelen - ... -
Modellbasert styring av Vanadium redoks flow batteri
Beslagic, Adin; Ulveraker, Bjørn Erik; Øvrebø, Henrik; Harlem, Thomas Bye (Bachelor thesis, 2022)Denne bacheloroppgaven presenterer utviklingen av reguleringsstrategier for ett Vanadium redoks flow-batteri (VRFB) ved hjelp av Matlab og Simulink. Dette omfatter litteratursøk, matematisk modellering, simulering og ... -
On excessive transverse coordinates for orbital stabilization of periodic motions
Sætre, Christian Fredrik; Shiriaev, Anton (Peer reviewed; Journal article, 2020)This paper explores transverse coordinates for the purpose of orbitally stabilizing periodic motions of nonlinear control-affine dynamical systems. It is shown that the dynamics of any (minimal or excessive) set of transverse ... -
On Orbital Stabilization as an alternative to Reference Tracking Control
Sætre, Christian Fredrik; Shiriaev, Anton (Chapter, 2020)With the purpose of highlighting the concept of orbital stabilization as an alternative to the reference tracking control methodology, this paper considers simple, informative examples in relation to motion control of an ... -
Orbital Stabilization of Nonlinear Underactuated Systems
Sætre, Christian Fredrik (Doctoral theses at NTNU;2022:353, Doctoral thesis, 2022)Orbital stabilization is a particular form of set stabilization, where the control objective is to induce, via time-invariant state-feedback, an asymptotically stable orbit in the resulting closed-loop system. Here an orbit ... -
Orbital Stabilization of Point-to-Point Maneuvers in Underactuated Mechanical Systems
Sætre, Christian Fredrik; Shiriaev, Anton (Journal article; Peer reviewed, 2023)The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ... -
Robust orbital stabilization: A Floquet theory–based approach
Sætre, Christian Fredrik; Shiriaev, Anton; Freidovich, Leonid B.; Gusev, Sergei V.; Fridman, Leonid M. (Journal article; Peer reviewed, 2021)The design of robust orbitally stabilizing feedback is considered. From a known orbitally stabilizing controller for a nominal, disturbance-free system, a robustifying feedback extension is designed utilizing the sliding-mode ... -
ROS Simulated World for ATV with SLAM
Håve, Eline Marie; Mellemseter, Sigrid; Nikolaisen, Cecilie (Bachelor thesis, 2022)Denne rapporten dokumenterer utviklingen av en simulert testplattform for Lone Wolf-prosjektet. Rapporten dekker modellering, rammeverk, implementering, simulering og visualisering. Prosjektet har som mål å muliggjøre ... -
Stable Gaits for an Underactuated Compass Biped Robot with a Torso - Trajectory Planning and Control Design using the Virtual Holonomic Constraints Approach
Sætre, Christian Fredrik (Master thesis, 2016)The versatility of two-legged walking can make bipedal robots ideal for operations in rough terrain and environments designed for human beings. In order to make such robots able to operate over long periods of time and ... -
Trajectory Optimization and Orbital Stabilization of Underactuated Euler-Lagrange Systems with Impacts
Sætre, Christian Fredrik; Shiriaev, Anton; Anstensrud, Torleif (Chapter, 2019)A numerical framework for finding and stabilizing periodic trajectories of underactuated mechanical systems with impacts is presented. By parameterizing a trajectory by a set of synchronization functions, whose parameters ...