Blar i Institutt for teknisk kybernetikk på tidsskrift "Modeling, Identification and Control"
Viser treff 1-20 av 24
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Autonomous Aerial Ice Observation for Ice Defense
(Journal article; Peer reviewed, 2014)One of the tasks in ice defense is to gather information about the surrounding ice environment using various sensor platforms. In this manuscript we identify two monitoring tasks known in literature, namely dynamic coverage ... -
A Co-operative Hybrid Model For Ship Motion Prediction
(Peer reviewed; Journal article, 2021)Dynamic models of ships have been widely used for model-based control and short-term prediction in the past. Identifying the parameters of such models has mainly been done through scaled model tests, full scale tests or ... -
Collision avoidance for ASVs through trajectory planning: MPC with COLREGs-compliant nonlinear constraints
(Peer reviewed; Journal article, 2022)This article presents a trajectory planning method for autonomous surface vessels that is compliant with Rule 8 and rules 13-17 from the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs). ... -
Comparison of Nonlinearity Measures based on Time Series Analysis for Nonlinearity Detection
(Journal article; Peer reviewed, 2011)The main purpose of this paper is a study of the efficiency of different nonlinearity detection methods based on time-series data from a dynamic process as a part of system identification. A very useful concept in measuring ... -
Compressor Surge Control Using Lyapunov Neural Networks
(Peer reviewed; Journal article, 2020)In this paper surge control in a compression system using a close-coupled valve (CCV) is proposed. The control design is based on Lyapunov control theory in combination with neural networks (NNs) and focuses on minimization ... -
Continuous-Curvature Path Generation using Fermat's Spiral
(Journal article; Peer reviewed, 2013)This paper proposes a novel methodology, based on Fermat's spiral (FS), for constructing curvature-continuous parametric paths in a plane. FS has a zero curvature at its origin, a property that allows it to be connected ... -
Control-oriented model of a generating set comprising a diesel engine and a synchronous generator
(Peer reviewed; Journal article, 2015)A generating set (Genset) comprises a prime mover such as a Diesel Engine, and a synchronous generator. The most important controllers of such systems are the speed governor to regulate the engine or shaft speed and the ... -
A Cryptographic Toolbox for Feedback Control Systems
(Peer reviewed; Journal article, 2020)Abstract: Feedback control systems consist of components such as sensory systems, state estimators, controllers, and actuators. By transmitting signals between these components across insecure transmission channels, feedback ... -
DP and the Art of Perfect Positioning
(Journal article; Peer reviewed, 2022) -
DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System
(Journal article; Peer reviewed, 2004)The RDI WHN-600 Doppler Velocity Log (DVL) is a key navigation sensor for the HUG1N 1000 Autonomous Underwater Vehicle (AUV). HUGIN 1000 is designed for autonomous submerged operation for long periods of time. This is ... -
eXogenous Kalman Filter (XKF) for Visualization and Motion Prediction of Ships using Live Automatic Identification Systems (AIS) Data
(Journal article; Peer reviewed, 2018)This paper addresses the problem of ship motion estimation using live data from Automatic Identification Systems (AIS). A globally exponentially stable observer for visualization and motion prediction of ships has been ... -
Model-Free All-Source-All-Destination Learning as a Model for Biological Reactive Control
(Journal article; Peer reviewed, 2021)We present here a model-free method for learning actions that lead to an all-source-all-destination shortest path solution. We motivate our approach in the context of biological learning for reactive control. Our method ... -
Model-free Control of Partially Observable Underactuated Systems by pairing Reinforcement Learning with Delay Embeddings
(Peer reviewed; Journal article, 2022)Abstract: Partial observability is a problem in control design where the measured states are insufficient in describing the systems trajectory. Interesting real-world systems often exhibit nonlinear behavior and noisy, ... -
Modular Pneumatic Snake Robot: 3D Modelling, Implementation and Control
(Journal article; Peer reviewed, 2008) -
Motion- and Communication-Planning of Unmanned Aerial Vehicles in Delay Tolerant Network using Mixed-Integer Linear Programming
(Journal article; Peer reviewed, 2016)Large amounts of data are typically generated in applications such as surveillance of power lines and railways, inspection of gas pipes, and security surveillance. In the latter application it is a necessity that the data ... -
Observer Based Sliding Mode Attitude Control: Theoretical and Experimental Results
(Journal article; Peer reviewed, 2011)In this paper we present the design of a sliding mode controller for attitude control of spacecraft actuated by three orthogonal reaction wheels. The equilibrium of the closed loop system is proved to be asymptotically ... -
On implementation of the Preisach model identification and inversion for hysteresis compensation
(Peer reviewed; Journal article, 2015)A challenge for precise positioning in nanopositioning using smart materials is hysteresis, limiting posi-tioning accuracy. The Preisach model, based on the delayed relay operator for hysteresis modelling, isintroduced. ... -
Parameter-dependent PWQ Lyapunov function stability criteria for uncertain piecewise linear systems
(Journal article; Peer reviewed, 2018)Abstract: The calculation of piecewise quadratic (PWQ) Lyapunov functions is addressed in view of stability analysis of uncertain piecewise linear dynamics. As main contribution, the linear matrix inequality (LMI) approach ... -
Short-term ASV Collision Avoidance with Static and Moving Obstacles
(Journal article; Peer reviewed, 2019)This article considers collision avoidance (COLAV) for both static and moving obstacles using the branching-course model predictive control (BC-MPC) algorithm, which is designed for use by autonomous surface vehicles (ASVs). ... -
The Arctic DP Research Project: Effective Stationkeeping in Ice
(Journal article; Peer reviewed, 2014)Stress on the environment from a potentially growing energy use is set to rise. Without doubt the energy resources in Arctic regions will be developed. An important goal will be to exploit the resources offered by for ...