Blar i Institutt for teknisk kybernetikk på tidsskrift "Asian journal of control"
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Fault-tolerant control allocation for overactuated nonlinear systems
(Journal article; Peer reviewed, 2017)This paper addresses the problem of fault-tolerant control allocation for input affine nonlinear systems. The proposed scheme is divided in three main tasks: fault detection and estimation using a nonlinear observer, fault ... -
Feedback Linearization Control for Systems with Mismatched Uncertainties via Disturbance Observers
(Peer reviewed; Journal article, 2018)This paper focuses on a novel feedback linearization control (FLC) law based on a self-learning disturbance observer (SLDO) to counteract mismatched uncertainties. The FLC based on BNDO (FLC-BNDO) demonstrates robust control ... -
Trajectory tracking for underwater swimming manipulators using a super twisting algorithm
(Journal article; Peer reviewed, 2018)The underwater swimming manipulator (USM) is a snake-like, multi-articulated, underwater robot that is equipped with thrusters. One of the main purposes of the USM is to act like an underwater floating base manipulator. ...