Blar i Institutt for teknisk kybernetikk på tidsskrift "Elsevier IFAC Publications / IFAC Proceedings series"

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    • A control framework for biologically inspired underwater swimming manipulators equipped with thrusters 

      Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (IFAC Proceedings series;, Journal article; Peer reviewed, 2016)
      In this paper we present a control framework for a novel biologically inspired underwater swimming manipulator (USM) equipped with thrusters. The framework consists of a kinematic part and a dynamic part. The kinematic ...

    • A Framework for Fault Diagnosis in Managed Pressure Drilling Applied to Flow-Loop Data 

      Willersrud, Anders; Imsland, Lars Struen; Pavlov, Alexey; Kaasa, Glenn-Ole (Journal article; Peer reviewed, 2013)
      Data from a medium-scale horizontal flow loop test facility is used to test fault diagnosis in managed pressure drilling. The faults are downhole incidents such as formation influx, fluid loss, drillstring washout, pack-off, ...

    • An adaptive observer for hyperbolic systems with application to UnderBalanced Drilling 

      Di Meglio, Florent; Bresch-Pietri, Delphine; Aarsnes, Ulf Jakob Flø (Journal article; Peer reviewed, 2014)
      We present an adaptive observer design for a first-order hyperbolic system of Partial Differential Equations with uncertain boundary parameters. The design relies on boundary measurements only, and is based on a backstepping ...

    • Dynamic behaviour of an HMR pre-combustion gas power cycle 

      Zhao, Lei; Michelsen, Finn Are; Foss, Bjarne Anton; Aasen, Knut I (Journal article; Peer reviewed, 2010)
      This paper explores dynamics for control design of a Hydrogen Membrane Reformer (HMR) pre-combustion gas power cycle. For this type of reforming to be competitive to power generation with carbon ...

    • Exhaust Gas Recirculation Control for Large Diesel Engines - Achievable Performance with SISO Design 

      Hansen, Jakob Mahler; Blanke, Mogens; Niemann, Hans Henrik; Vejlgaard-Laursen, Morten (Journal article; Peer reviewed, 2013)
      This paper investigates control possibilities for Exhaust Gas Recirculation (EGR) on large diesel engines. The goal is to reduce the amount of $NO_x$ in the exhaust gas by reducing the oxygen concentration available for ...

    • Fixed-Structure, Low-Order Damping and Tracking Control Schemes for Nanopositioning 

      Eielsen, Arnfinn Aas; Vagia, Marialena; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2013)
      Fast and accurate tracking of periodic reference trajectories is highly desirable in many nanopositioning applications, including scanning probe microscopy. Performance in common positioning stage designs is limited by the ...

    • Formation Control of Underactuated Marine Vehicles with Communication Constraints 

      Børhaug, Even; Ghabcheloo, Reza; Pavlov, Alexey; Pettersen, Kristin Ytterstad; Pascoal, Antonio; Silvestre, Carlos (Journal article, 2006)
      In this paper, we propose a nonlinear coordination control scheme for formation control of a group of underactuated marine vehicles with communication topology constraints. In particular, we propose decentralized control ...

    • Fuel Optimal Thrust Allocation in Dynamic Positioning 

      Rindarøy, Martin; Johansen, Tor Arne (Journal article, 2013)
      This paper is focused on the thrust allocation algorithm, which is a part of a Dynamic Positioning (DP) system in marine vessels with diesel-electric power system. In this paper the focus is on using the thrust allocation ...

    • Heave Motion Estimation on a Craft Using a Strapdown Inertial Measurement Unit 

      Auestad, Øyvind Fidje; Gravdahl, Jan Tommy; Fossen, Thor I. (Journal article; Peer reviewed, 2013)
      This paper deals with heave position and heave velocity estimation on a craft. The estimation is done without any knowledge of the specified craft. An accurate estimation of these signals is useful when one wants to control ...

    • Implementation and Comparison of Attitude Estimation Methods for Agricultural Robotics 

      Utstumo, Trygve; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2013)
      The field of precision agriculture increasingly utilize and develop robotics for various applications, many of which are dependent on high accuracy localization and attitude estimation. Special attention has been put towards ...

    • Leader-follower Dynamic Synchronization of Surface Vessels 

      Kyrkjebø, Erik; Pettersen, Kristin Ytterstad (Journal article, 2006)
      This paper introduces a dynamic leader-follower synchronization scheme for surface vessels that specifies the behavior of the follower vessels as they approach their desired position in a formation, or in a docking operation. ...

    • Linear and Nonlinear State Estimation in the Czochralski Process 

      Rahmanpour, Parsa; Bones, John Atle; Hovd, Morten; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2013)
      The Czochralski process is the only method used commercially for production of monocrystalline silicon for semiconductor and solar cell applications. This paper explores the use of mathematical modeling as an aid in ...

    • LOS Path Following for Underactuated Underwater Vehicle 

      Børhaug, Even; Pettersen, Kristin Ytterstad (Journal article, 2006)
      In this paper, we propose a control scheme for path following of underactuated underwater vehicles. In particular, we propose a guidance law based on the the well-known principle of Line of Sight (LOS) guidance that is ...

    • Model Predictive Control of a Kaibel Distillation Column 

      Kvernland, Martin Krister; Halvorsen, Ivar J.; Skogestad, Sigurd (Journal article; Peer reviewed, 2010)
      This is a simulation study on controlling a Kaibel distillation column with model predictive control (MPC). A Kaibel distillation column has several advantages compared with conventional binary column setups. The Kaibel ...

    • Modeling of underwater swimming manipulators 

      Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2016)
      For several decades, the traditional ROV has been the workhorse used for any kind of subsea operations. The industry is now facing an important shift towards more economical and more efficient operations on subsea ...

    • Nonlinear model-based control of two-phase flow in risers by feedback linearization 

      Jahanshahi, Esmaeil; Skogestad, Sigurd; Grøtli, Esten Ingar (Journal article, 2013)
      Active control of the production choke valve is the recommended solution to prevent severe slugging flow conditions at offshore oilfields. The slugging flow constitutes an unstable and highly nonlinear system; the gain of ...

    • 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. ...

    • Optimization of the Water-Flooding Process in a Small 2D Horizontal Oil Reservoir by Direct Transcription 

      Heirung, Tor Aksel N.; Wartmann, Michael R.; Jansen, Jan Dirk; Ydstie, Birger Erik; Foss, Bjarne Anton (Journal article; Peer reviewed, 2011)

    • Simulator and Control System Design for a Free Floating Surface Effect Ship at Zero Vessel Speed 

      Auestad, Øyvind Fidje; Gravdahl, Jan Tommy; Sørensen, Asgeir Johan; Halvorsen, Trygve Espeland (Journal article; Peer reviewed, 2013)
      This paper covers vertical motion damping of a free floating Surface Effect Ship (SES) at zero vessel speed. Vertical motion damping is requested at the bow deck of the SES during offshore wind turbine docking operation. ...

    • Snake Robots - From Biology to Nonlinear Control 

      Pettersen, Kristin Ytterstad; Liljebäck, Pål; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article, 2013)
      Inspired by the motion of biological snakes, this paper presents an overview of recent results in modelling and control of snake robots. The objective of the research underlying this paper is to contribute to the mathematical ...