Browsing NTNU Open by Author "Schmidt-Didlaukies, Henrik"
Now showing items 1-17 of 17
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AutoVoyage: Autonom baneplanlegging, banegenerering, og banefølging for autonome skip under transit
Nordstoga, Aksel Knudsen (Master thesis, 2019)Denne avhandlingen presenterer et komplett system for autonom baneplanlegging, banegenerering og banefølging for et marint overflateskip. Baneplanleggeren er delt inn i en global planlegger med lav oppløsning, som planlegger ... -
Control Allocation for Underwater Snake Robots using Optimization Methods
Øvregård, Siri Bjørkedal (Master thesis, 2018)Although the concept of underwater vehicles has existed for a very long time, the technology within the field has progressed substantially over the recent decades. As more and more oil and gas installations and operations ... -
Delay Compensation for Real-Time Hybrid Testing
Schmidt-Didlaukies, Henrik (Master thesis, 2017)Real-time hybrid testing has the potential of being a disruptive addition to the repertoire of experimentalists working in the field of marine technology, where rigorous experimental testing is both commonplace and necessary. ... -
A Generalization of Synergistic Hybrid Feedback Control with Application to Maneuvering Control of Ships
Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad (Chapter, 2022)This paper generalizes results on synergistic hybrid feedback control. Specifically, we propose a generalized definition of synergistic Lyapunov functions and feedbacks which allows the logic variable in traditional ... -
Global Asymptotic Position and Heading Tracking for Multirotors Using Tuning Function-Based Adaptive Hybrid Feedback
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2022) -
Global Asymptotic Tracking for Marine Surface Vehicles using Hybrid Feedback in the Presence of Parametric Uncertainties
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan (Chapter, 2021)In this paper, we propose a hybrid adaptive feedback control law for global asymptotic tracking control for marine surface vehicles in the presence of parametric uncertainties. The hybrid feedback is derived from a family ... -
Global Asymptotic Tracking for Marine Vehicles using Adaptive Hybrid Feedback
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan (Peer reviewed; Journal article, 2023)This paper presents an adaptive hybrid feedback control law for global asymptotic tracking of a hybrid reference system for marine vehicles in the presence of parametric modeling errors. The reference system is constructed ... -
Hierarchical tracking control of an articulated intervention-AUV
Dyrhaug, Jan Inge; Tveter, Erling (Master thesis, 2022)Autonome undervannsroboter har allerede revolusjonert den maritime næringen, og muliggjort operasjoner som ellers ville vært umulige. Økt autonomi er ønskelig av flere grunner, inkludert kostnadseffektivitet og sikkerhet. ... -
Hierarchical tracking control of an articulated intervention-AUV
Dyrhaug, Jan Inge; Tveter, Erling (Master thesis, 2022)Autonome undervannsroboter har allerede revolusjonert den maritime næringen, og muliggjort operasjoner som ellers ville vært umulige. Økt autonomi er ønskelig av flere grunner, inkludert kostnadseffektivitet og sikkerhet. ... -
Hysteretic Control Lyapunov Functions with Application to Global Asymptotic Tracking for Underwater Vehicles
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad (Chapter, 2021)This paper introduces hysteretic control Lyapunov functions (HCLFs) for hybrid feedback control of a class of continuous-time systems. A family of HCLFs consists of local control Lyapunov functions defined on open domains, ... -
Input-to-State Stable Integral Line-of-Sight Guidance for Curved Paths with Anti-Windup Guarantees
Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Pettersen, Kristin Ytterstad (Peer reviewed; Journal article, 2024)This letter considers integral line-of-sight (LOS) guidance for curved path following for underactuated marine vehicles. The proposed guidance scheme renders the resulting closed-loop system input-to-state stable (ISS) ... -
Input-to-State Stable Integral Line-of-Sight Guidance for Curved Paths With Anti-Windup Guarantees
Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Pettersen, Kristin Ytterstad (Peer reviewed; Journal article, 2024)This letter considers integral line-of-sight (LOS) guidance for curved path following for underactuated marine vehicles. The proposed guidance scheme renders the resulting closed-loop system input-to-state stable (ISS) ... -
Modeling of Articulated Underwater Robots for Simulation and Control
Schmidt-Didlaukies, Henrik; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad (Chapter, 2018)This paper presents a methodology for modeling articulated underwater robots possessing a kinematic tree structure and arbitrary thruster placement. Efficient algorithms for the forward dynamics and the thruster configuration ... -
Optimal Positioning of Snake Robots in Vortex Wakes using Extremum-Seeking Control.
Orucevic, Amer; Lysø, Mads Erlend Bøe; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2023)In this paper we explore the optimal positioning of an underwater snake robot (USR) for energy harvesting in the wake of a bluff body. The USR and fluid are simulated jointly using a coupled vortex particle-mesh method and ... -
Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems
Dyrhaug, Jan Inge; Tveter, Erling; Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2023)For vehicle-manipulator systems (VMSs) to perform precise operations, a robust tracking control framework is required. Moreover, to exploit the platform's redundancy, it is desirable that the framework allows several tasks ... -
Synergistic PID and Output Feedback Control on Matrix Lie Groups
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2023)In this paper, we develop multiple synergistic hybrid feedback control laws for mechanical systems on matrix Lie groups with left-invariant metrics. With the goal of globally asymptotically tracking a desired reference ... -
Vision-Aided Inertial Navigation for Underwater Vehicles Using ArUco Markers
Stavnes, Roar (Master thesis, 2021)Skiftet fra tradisjonell olje- og gassproduksjon mot produksjonsenheter på havbunnen har skapt et økt behov for undervannsoperasjoner. Dette har motivert bruken av autonomi for å effektivisere operasjoner og redusere ...