Browsing NTNU Open by Author "Borlaug, Ida-Louise Garmann"
Now showing items 1-10 of 10
-
Combined kinematic and dynamic control of an underwater swimming manipulator
Borlaug, Ida-Louise Garmann; Sverdrup-Thygeson, Jørgen; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2019)An underwater swimming manipulator (USM) is a long and slender underwater vehicle composed of multiple links that are connected by motorized joints and equipped with thrusters. The USM belongs to the class of underwater ... -
Combined Kinematic and Dynamic Control of Vehicle-Manipulator Systems
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2020)A vehicle-manipulator system (VMS) is a class of mobile robots characterised by their ability to carry or be a robotic arm and therefore also manipulate objects. The VMS class includes vehicles with a robotic manipulator, ... -
Comparison of two second-order sliding mode control algorithms for an articulated intervention-AUV: Theory and experimental results
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2021)An articulated intervention autonomous underwater vehicle (AIAUV) is a slender, multi-articulated underwater robot. Accurate trajectory tracking is essential for AIAUV operations. Furthermore, due to hydrodynamic and ... -
The generalized super-twisting algorithm with adaptive gains
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2020)In this paper a novel adaptive generalized super-twisting algorithm is proposed for a class of systems whose perturbations and uncertain control coefficients are time- and state-dependent. The proposed approach uses ... -
The generalized super-twisting algorithm with adaptive gains
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2022)In this article, a novel adaptive generalized super-twisting algorithm (GSTA) is proposed for a class of systems whose perturbations and uncertain control coefficients may depend on both time and state. The proposed approach ... -
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 ... -
Tracking control of an articulated intervention autonomous underwater vehicle in 6DOF using generalized super-twisting: Theory and experiments
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2020)The articulated intervention autonomous underwater vehicle (AIAUV) is an underwater swimming manipulator with intervention capabilities. Station-keeping and trajectory tracking are essential for the AIAUV to be able to ... -
Tracking control of an articulated intervention AUV in 6DOF using the generalized super-twisting algorithm
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2019)The articulated intervention AUV (AIAUV) is an underwater swimming manipulator (USM) with intervention capabilities. Station-keeping and trajectory tracking are essential for the AIAUV to be able to move in confined spaces ... -
Trajectory tracking for an articulated intervention AUV using a super-twisting algorithm in 6 DOF
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2018)The articulated intervention autonomous underwater vehicle (AIAUV) is a slender, multi-articulated, underwater robot that is equipped with thrusters, i.e. an underwater swimming manipulator (USM). For the AIAUV to be able ... -
Trajectory tracking for underwater swimming manipulators using a super twisting algorithm
Borlaug, Ida-Louise Garmann; Gravdahl, Jan Tommy; Sverdrup-Thygeson, Jørgen; Pettersen, Kristin Ytterstad; Loria, Antonio (Journal article; Peer reviewed, 2018)The underwater swimming manipulator (USM) is a snake-like, multi-articulated, underwater robot that is equipped with thrusters. One of the main purposes of the USM is to act like an underwater floating base manipulator. ...