Blar i NTNU Open på forfatter "Marley, Mathias Huuse"
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DSA-inspired assessment of autonomous ships stability during turning maneuver
Krata, Przemyslaw; Hinz, Tomasz; Marley, Mathias Huuse; Dugan, Spencer August; Gil, Mateusz; Montewka, Jakub; Skjetne, Roger (Chapter, 2022)Assessing the stability of autonomous ships is challenging due to a lack of crew ensuring situational awareness, experience and good seamanship, which have contributed to safety of navigation to date. Therefore, a comprehensive ... -
Four Degree-of-Freedom Hydrodynamic Maneuvering Model of a Small Azipod-Actuated Ship With Application to Onboard Decision Support Systems
Marley, Mathias Huuse; Skjetne, Roger; Gil, Mateusz; Krata, Przemyslaw (Peer reviewed; Journal article, 2023)The main contribution of this paper is a numerical ship motion model of NTNU’s research vessel Gunnerus, capturing the surge, sway, roll, and yaw dynamics when sailing in uniform and steady currents. The model utilizes a ... -
Hybrid and nonhybrid control barrier functions for constraint satisfaction in dynamical systems: Applied to safe motion control of autonomous vessels
Marley, Mathias Huuse (Doctoral theses at NTNU;2024:262, Doctoral thesis, 2024)Control barrier functions (CBFs) enable constraint satisfaction in controlled dynamical systems, by mapping state constraints into state-dependent input constraints. CBFs may then be synthesized with any nominal control ... -
Modelling and Robust Control of Production Force of a Wave Energy Converter
Marley, Mathias Huuse (Master thesis, 2014)Lifesaver is a point-absorber wave energy converter developed by Fred. Olsen. She is currently deployed off the coast of England for pre-commercial testing. Lifesaver consists of a toroidal floater supporting three Power-Take ... -
Sufficient conditions for uniform asymptotic stability and input-to-state stability using high-order control barrier functions
Marley, Mathias Huuse; Skjetne, Roger; Teel, Andrew R. (Peer reviewed; Journal article, 2023)Control barrier functions (CBFs) ensure safety of controlled dynamical systems by enforcing forward invariance of safe subsets of the state space. First-order CBFs are applicable for systems where the control input appears ...