Institutt for teknisk kybernetikk
Recent Submissions
-
Wave motion compensation in dynamic positioning of small autonomous vessels
(Peer reviewed; Journal article, 2020)Conventional dynamic positioning (DP) systems on larger ships compensate primarily for slowly time-varying environmental forces. In doing so, they use wave filtering to prevent the DP from compensating for the first-order ... -
Unmanned Aircraft Flight Control Aided by Phased-Array Radio Navigation
(Peer reviewed; Journal article, 2020)Navigation systems of safety‐critical unmanned aircraft need an alternative position aiding source to global navigation satellite system. One promising alternative, is position measurements from phased‐array radio systems. ... -
On Orbital Stabilization as an alternative to Reference Tracking Control
(Chapter, 2020)With the purpose of highlighting the concept of orbital stabilization as an alternative to the reference tracking control methodology, this paper considers simple, informative examples in relation to motion control of an ... -
A hybrid kinematic controller for resilient obstacle avoidance of autonomous ships
(Peer reviewed; Journal article, 2020)Resilience is an important feature of autonomous systems. To be resilient, a control system must be stable, robust, and safe. This paper explores the use of hybrid feedback controllers to ensure robustness towards uncertainties ... -
Optimization-Based Automatic Docking and Berthing of ASVs Using Exteroceptive Sensors: Theory and Experiments
(Peer reviewed; Journal article, 2020)Docking of autonomous surface vehicles (ASVs) involves intricate maneuvering at low speeds under the influence of unknown environmental forces, and is often a challenging operation even for experienced helmsmen. In this ... -
Two-Stage Optimized Trajectory Planning for ASVs Under Polygonal Obstacle Constraints: Theory and Experiments
(Peer reviewed; Journal article, 2020)We propose a method for energy-optimized trajectory planning for autonomous surface vehicles (ASVs), which can handle arbitrary polygonal maps as obstacle constraints. The method comprises two stages: The first is a hybrid ... -
Rotating Power Electronics for Electrical Machines and Drives - Design Considerations and Examples
(Chapter, 2020)The industrial shift towards rotating power electronics (RPE) promotes brushless flexible rotor excitation, as well as battery-less rotor instrumentation and measurement devices for electrical machines. Recently, the ... -
Robust Control of Articulated Intervention-AUVs Using Sliding Mode Control
(Doctoral theses at NTNU;2020:345, Doctoral thesis, 2020)This thesis is concerned with the theoretical development of trajectory tracking control for an articulated intervention autonomous underwater vehicle (AUV) in 6DOF while using no or as little model knowledge as possible ... -
Reinforcement Learning-Based Tracking Control of USVs in Varying Operational Conditions
(Peer reviewed; Journal article, 2020)We present a reinforcement learning-based (RL) control scheme for trajectory tracking of fully-actuated surface vessels. The proposed method learns online both a model-based feedforward controller, as well an optimizing ... -
Long range path planning using an aircraft performance model for battery powered sUAS equipped with icing protection system
(Journal article, 2020)Earlier studies demonstrate that en-route atmospheric parameters, such as winds and icing conditions, significantly affect the safety, and in-flight performance of unmanned aerial systems. Nowadays, the inclusion of ... -
Autonomous ballistic airdrop of objects from a small fixed-wing unmanned aerial vehicle
(Peer reviewed; Journal article, 2020)Autonomous airdrop is a useful basic operation for a fixed-wing unmanned aerial system. Being able to deliver an object to a known target position extends operational range without risking human lives, but is still limited ... -
Optimal Mission Planning for Fixed-Wing UAVs with Electro-Thermal Icing Protection and Hybrid-Electric Power Systems
(Chapter, 2020)Harsh weather conditions such as wind and icing are severe debilitators to the operations of unmanned aerial vehicles in terms of performance, safety and reliability. Forecasts of atmospheric parameters in the mission area ... -
Cooperative circumnavigation for a mobile target using adaptive estimation
(Chapter, 2020)In this paper we consider the problem of tracking a mobile target using adaptive estimation while circumnavigating it with a system of Unmanned Surface Vehicles (USVs). The mobile target considered is an irregular dynamic ... -
Risk-based Autonomous Maritime Collision Avoidance Considering Obstacle Intentions
(Chapter, 2020)A robust and efficient Collision Avoidance (COLAV) system for autonomous ships is dependent on a high degree of situational awareness. This includes inference of the intent of nearby obstacles, including compliance with ... -
Real-Time Moving Horizon Estimation of Air Data Parameters and Wind Velocities for fixed-wing UAVs
(Chapter, 2020)We present a real-time implementation of an estimation algorithm for angle of attack, airspeed and wind velocities estimation on a single board computer. The estimator uses only sensor data from a standard fixed-wing UAV ... -
Accelerating Reinforcement Learning with Suboptimal Guidance
(Peer reviewed; Journal article, 2020)Reinforcement learning in domains with sparse rewards is a difficult problem, and a large part of the training process is often spent searching the state space in a more or less random fashion for learning signals. For ... -
Globally exponentially stable wind estimation for small fixed-wing UAVs using standard sensors
(Chapter, 2020)This paper considers the estimation of the steady wind component around small fixedwing unmanned aerial vehicles using measurements from a Pitot-static tube and velocity over ground information. A three-stage filter is ... -
Hybrid Control of Fixed-Wing UAVs for Large-Angle Attitude Maneuvers on the Two-Sphere
(Peer reviewed; Journal article, 2020)We propose the design of a hybrid controller for fixed-wing unmanned aerial vehicles which guarantees global exponential tracking of attitude references on the two-sphere. The chosen attitude representation is singularity-free ... -
Fast divergence-conforming reduced basis methods for stationary and transient flow problems
(Peer reviewed; Journal article, 2020)Reduced basis methods (RB methods or RBMs) form one of the most promising techniques to deliver numerical solutions of parametrized PDEs in real-time with reasonable accuracy [1]. For the Navier-Stokes equation, RBMs based ... -
GANs enabled super-resolution reconstruction of wind field
(Peer reviewed; Journal article, 2020)Atmospheric flows are governed by a broad variety of spatio-temporal scales, thus making real-time numerical modeling of such turbulent flows in complex terrain at high resolution computationally unmanageable. In this ...
RSS 2.0