Browsing NTNU Open by Author "Teel, Andrew R."
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Hybrid controller concept for dynamic positioning of marine vessels with experimental results
Brodtkorb, Astrid H.; Værnø, Svenn Are Tutturen; Teel, Andrew R.; Sørensen, Asgeir Johan; Skjetne, Roger (Journal article; Peer reviewed, 2018)The next generation marine control systems will, as a step towards increased autonomy, have more automatic functionality in order to cope with a set of complex operations in unknown, challenging and varying environments ... -
Hybrid Observer Combining Measurements of Different Fidelities
Brodtkorb, Astrid H.; Teel, Andrew R.; Sørensen, Asgeir Johan (Journal article; Peer reviewed, 2016)A signal-based hybrid observer combining measurements of different fidelities is proposed for position and velocity estimation of marine vessels. The concept assumes that noisy position measurements are available only ... -
Hybrid observer for improved transient performance of a marine vessel in dynamic positioning
Brodtkorb, Astrid H.; Værnø, Svenn Are Tutturen; Teel, Andrew R.; Sørensen, Asgeir Johan; Skjetne, Roger (Journal article; Peer reviewed, 2016)Dynamic positioning (DP) systems are used on marine vessels for automatic station keeping and tracking operations solely by use of thrusters. Observers are key components of DP systems, and two main types are proposed in ... -
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 ... -
A kinematic hybrid feedback controller on the unit circle suitable for orientation control of ships
Skjetne, Roger; Teel, Andrew R. (Chapter, 2020)This paper presents a hybrid feedback controller suitable for orientation control of ships. A hybrid kinematic controller on the unit circle is constructed from the gradient of a synergistic potential function, which ... -
Sensor-based Hybrid Observer for Dynamic Positioning
Brodtkorb, Astrid H.; Teel, Andrew R.; Sørensen, Asgeir Johan (Chapter, 2015)Observers are important components of dynamic positioning (DP) systems for marine vessels, estimating unmeasured states, filtering noise, filtering out wave induced motions, and predicting states in the case of signal loss. ... -
Set-based Tasks within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework: General Formulation, Stability Analysis and Experimental Results
Moe, Signe; Antonelli, Gianluca; Teel, Andrew R.; Pettersen, Kristin Ytterstad; Schrimpf, Johannes (Journal article; Peer reviewed, 2016)Inverse kinematics algorithms are commonly used in robotic systems to transform tasks to joint references, and several methods exist to ensure the achievement of several tasks simultaneously. The multiple task-priority ... -
Stability Analysis for Set-based Control within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework
Moe, Signe; Teel, Andrew R.; Antonelli, Gianluca; Pettersen, Kristin Ytterstad (Conference object; Peer reviewed, 2015)Inverse kinematics algorithms are commonly used in robotic systems to accomplish desired behavior, and several methods exist to ensure the achievement of several tasks simultaneously. The multiple task-priority inverse ...