Browsing NTNU Open by Author "Brodtkorb, Astrid Helene"
Now showing items 1-5 of 5
-
Control allocation and observer design for autonomous ferries
Torben, Tobias Rye (Master thesis, 2019)De siste årene har det vært høy aktivitet knyttet til autonomi i skip. Grunnet relativt lav operasjonskompleksitet, utgjør bilferger en god kanditat for å drive utviklingen mot økt autonomi i skip. Denne avhandlingen ... -
Control Allocation for Double-ended Ferries with Full-scale Experimental Results
Torben, Tobias; Brodtkorb, Astrid Helene; Sørensen, Asgeir Johan (Peer reviewed; Journal article, 2020)A novel control allocation algorithm for double-ended ferries with symmetrical thruster configuration is proposed. The allocation problem is formulated using the extended thrust representation, resulting in a four dimensional ... -
Dynamic Positioning in Extreme Sea States: Improving Operability Using Hybrid Design Methods
Brodtkorb, Astrid Helene (Master thesis, 2014)This thesis investigates the performance of high-level hybrid dynamic positioning (DP) algorithms in extreme environmental conditions. A vessel in DP uses the thrusters as the sole means of keeping position in wind, waves ... -
Hybrid observer concept for sensor fusion of sporadic measurements for underwater navigation
Bremnes, Jens Einar; Brodtkorb, Astrid Helene; Sørensen, Asgeir Johan (Peer reviewed; Journal article, 2020)Accurate underwater navigation systems are required for closed-loop guidance and control of unmanned underwater vehicles (UUV). This paper proposes a sensor-based hybrid translational observer concept for underwater ... -
Increasing the Operation Window of Dynamic Positioned Vessels Using the Concept of Hybrid Control
Brodtkorb, Astrid Helene; Sørensen, Asgeir Johan; Teel, Andrew R. (Chapter; Peer reviewed, 2014)In order to extend the operational window of marine vessels, the high-level control of the dynamic positioning (DP) system is revised. Major contributions of this paper include the modeling of a hybrid controller for a DP ...