Browsing Institutt for marin teknikk by Author "Pettersen, Kristin Ytterstad"
Now showing items 1-9 of 9
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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 ... -
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, ... -
Modeling and Hybrid Feedback Control of Underwater Vehicles
Schmidt-Didlaukies, Henrik M. (Doctoral theses at NTNU;2023:130, Doctoral thesis, 2023)This thesis presents contributions to the mathematical modeling of underwater vehicles and nonlinear hybrid feedback control. We present a matrix Lie group formulation of the standard model describing the motion of rigid ... -
Modeling and Propulsion Methods of Underwater Snake Robots
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Strømsøyen, Simen; Sørensen, Asgeir Johan (Chapter, 2017)In this paper we consider underwater snake robots (USRs) that may be equipped with additional added effectors along their body, including caudal, dorsal and pectoral fins, tunnel thrusters and/or a stern propeller. We ... -
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 ... -
Observer design for underwater vehicles with position and angle measurement
Refsnes, Jon E Gorset; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan (Journal article, 2006)In this paper we propose a new observer system for underwater vehicles. The main design objective behind this strategy is to reduce the destabilizing effect of the Coriolis and centripetal forces and moments in the observer. ... -
Path Following Control of Underactuated Surface Vessels in the Presence of Multiple Disturbances
Caharija, Walter; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad; Greco, Marilena; Gravdahl, Jan Tommy (Chapter, 2019)An integral version of the line-of-sight guidance method is shown to compensate for both kinematic and dynamic disturbances generated by wind, waves and sea currents. The guidance law is designed for path following tasks ... -
Weather optimal dynamic positioning of underactuated AUVs using output feedback control
Refsnes, Jon E Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad (Journal article, 2006)In this paper we present an output feedback control system for dynamic positioning of underactuated AUVs. The control objective is to maintain a desired distance to the target while orienting the vehicle towards the target ...