Browsing NTNU Open by Author "Børhaug, Even"
Now showing items 1-7 of 7
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Development of Software Tool for Identification of Ballast Errors in Autonomous Underwater Vehicles
Lillemoen, Nina Fjelldalen (Master thesis, 2014)An autonomous underwater vehicle (AUV) with correct ballast will be energy efficient and will easily follow its programmed mission path. A ballast error may result in increased power consumption. It can also prevent an AUV ... -
Formation Control of Underactuated Marine Vehicles with Communication Constraints
Børhaug, Even; Ghabcheloo, Reza; Pavlov, Alexey; Pettersen, Kristin Ytterstad; Pascoal, Antonio; Silvestre, Carlos (Journal article, 2006)In this paper, we propose a nonlinear coordination control scheme for formation control of a group of underactuated marine vehicles with communication topology constraints. In particular, we propose decentralized control ... -
LOS Path Following for Underactuated Underwater Vehicle
Børhaug, Even; Pettersen, Kristin Ytterstad (Journal article, 2006)In this paper, we propose a control scheme for path following of underactuated underwater vehicles. In particular, we propose a guidance law based on the the well-known principle of Line of Sight (LOS) guidance that is ... -
Målfølging via kamera
Kallevik, Paul Sverre (Master thesis, 2008)Oppgaven er gitt av Apto Maritime AS, og bygger på en eksisterende søkelyskaster, kalt SECurus. SECurus er utstyrt med et digitalt videokamera og et infrarødt kamera. SECurus skal kunne benytte kameraene til å detektere ... -
Nonlinear Control and Synchronization of Mechanical Systems
Børhaug, Even (Doktoravhandlinger ved NTNU, 1503-8181; 2008:298, Doctoral thesis, 2008)This thesis considers three issues: the problem of global output feedback tracking control of Euler-Lagrange systems; the problem of path following control of underactuated marine vehicles; and the problem of mutual ... -
Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Ocean Currents
Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Børhaug, Even (Journal article; Peer reviewed, 2012)A control strategy allowing underactuated underwater vehicles to accomplish 3D straight line path following tasks in the presence of ocean currents is developed. The ocean current is considered constant, irrotational and ... -
Straight Line Path Following for Formations of Underactuated Surface Vessels Under Influence of Constant Ocean Currents
Burger, Mernout; Pavlov, Alexey; Børhaug, Even; Pettersen, Kristin Ytterstad (Chapter, 2009)