Blar i NTNU Open på forfatter "Sørensen, Mikkel Eske Nørgaard"
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A Ship Heading and Speed Control Concept Inherently Satisfying Actuator Constraints
Sørensen, Mikkel Eske Nørgaard; Breivik, Morten; Eriksen, Bjørn-Olav Holtung (Chapter; Peer reviewed, 2017)Satisfying actuator constraints is often not considered in the academic literature on the design of ship heading and speed controllers. This paper considers the use of a simplified dynamic window algorithm as a way to ... -
AMOS DP Research Cruise 2016: Academic full-scale testing of experimental dynamic positioning control algorithms onboard R/V Gunnerus
Skjetne, Roger; Sørensen, Mikkel Eske Nørgaard; Breivik, Morten; Værnø, Svenn Are Tutturen; Brodtkorb, Astrid H.; Sørensen, Asgeir Johan; Kjerstad, Øivind Kåre; Calabrò, Vincenzo; Vinje, Bjørn Ole (Chapter; Peer reviewed, 2017)In order to validate relevant dynamic positioning (DP) control algorithms in a realistic environment, a full-scale DP test campaign, the AMOS DP Research Cruise 2016 (ADPRC’16), was organized in a collaboration between the ... -
Automatic model identification of high-speed autonomous surface vehicles
Kvalvaag, Torstein Myrene (Master thesis, 2018)This thesis investigates a method for identication of a non-first principle control-oriented model for autonomous surface vehicles (ASVs) suggested in [7]. The goal is to develop an automatic substitute for the identification ... -
Comparing Combinations of Linear and Nonlinear Feedback Terms for Motion Control of Marine Surface Vessels
Sørensen, Mikkel Eske Nørgaard; Breivik, Morten (Journal article; Peer reviewed, 2016)Nonlinear control algorithms are often designed with linear feedback terms. Such linear feedback typically gives rise to nice exponential stability properties, but are not physically realistic since all actuators have ... -
Comparing Nonlinear Adaptive Motion Controllers for Marine Surface Vessels
Sørensen, Mikkel Eske Nørgaard; Breivik, Morten (Journal article; Peer reviewed, 2015)This paper deals with the design and evaluation of four controllers based on backstepping and different adaptive control schemes, which are applied to the motion control of a nonlinear 3 degrees-of-freedom model of a marine ... -
Nonlinear Adaptive Motion Controllers for Ships: Model-Scale Experiments in an Ocean Basin
Sæterdal, Tore Egil (Master thesis, 2018)This thesis investigates two different methods of adaptive control, namely L1 adaptive control and Immersion and Invariance adaptive control. The adaptive concepts is used to extend an existing cascaded non-linear feedback ... -
Performance Comparison of Backstepping-Based Adaptive Controllers for Marine Surface Vessels
Sørensen, Mikkel Eske Nørgaard; Bjørne, Elias; Breivik, Morten (Chapter, 2016)This paper deals with the design and evaluation of three controllers based on backstepping and different adaptive control schemes, which are applied to the motion control of a nonlinear 3 degrees-of-freedom model of a ... -
Performance Comparison of Controllers with Fault-Dependent Control Allocation for UAVs
Sørensen, Mikkel Eske Nørgaard; Hansen, Søren; Breivik, Morten; Blanke, Mogens (Journal article; Peer reviewed, 2017)This paper combines fault-dependent control allocation with three different control schemes to obtain fault tolerance in the longitudinal control of unmanned aerial vehicles. The paper shows that fault-dependent control ... -
Topics in Nonlinear and Model-based Control of Ships
Sørensen, Mikkel Eske Nørgaard (Doctoral theses at NTNU;2021:401, Doctoral thesis, 2021)This PhD thesis considers topics within automatic motion control of ships, which has been an active research topic since the early 20th century. Specifically, the thesis aims at designing controllers to achieve a good ... -
UAV Fault-Tolerant Control by Combined L1 Adaptive Backstepping and Fault-dependent Control Allocation
Sørensen, Mikkel Eske Nørgaard; Breivik, Morten (Chapter, 2015)This paper presents an approach to obtain fault tolerance in the nonlinear longitudinal motion control of an aircraft. The approach uses an L1 adaptive backstepping controller and fault-dependent control allocation to ...