Blar i NTNU Open på forfatter "Wrzos-Kaminska, Marianna"
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Automatic alignment of underwater snake robots operating in wakes of bluff bodies
Orucevic, Amer; Wrzos-Kaminska, Marianna; Lysø, Mads Erlend Bøe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2024)This paper presents the development of controllers to automatically align an underwater snake robot (USR) with a wake that forms behind a bluff body, while swimming at a desired distance to the object. The low-level ... -
Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV
Wrzos-Kaminska, Marianna; Mylvaganam, Thulasi; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2020)In this paper we consider the problem of mixed H 2 /H ∞ control to combine optimal and robust control for a double integrator system with nonlinear performance variables, and we apply this to control an articulated ... -
Path following control for articulated intervention-AUVs using geometric control of reduced attitude
Wrzos-Kaminska, Marianna; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2019)An articulated intervention autonomous underwater vehicle (AIAUV) consists of the jointed body of a snake robot equipped with thrusters for hovering and faster propulsion. The slender, articulated body can be used as a ... -
Path Following Control for Underwater Swimming Manipulators Moving in 3D - Using Geometric Attitude Control
Wrzos-Kaminska, Marianna (Master thesis, 2018)The underwater swimming manipulator (USM) is a snake robot equipped with thrusters for faster propulsion or hovering. The entire articulated body of the USM can be used as a floating manipulator arm, and its slender build ... -
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots
Orucevic, Amer; Wrzos-Kaminska, Marianna; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2023)In this article, the Lyapunov theory for uniform practical asymptotic stability (UPAS) is presented and utilized to solve the problem of position control of a planar underwater snake robot (USR). First sufficient conditions ...