Now showing items 1-20 of 105

    • 3D Coordinated Path Following with Disturbance Rejection for Formations of Under-actuated Agents 

      Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad (Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes 2015;CDC 2015, Conference object; Journal article; Peer reviewed, 2015)
      In this paper coordinated path following for formations of under-actuated agents in three dimensional space is considered. The agents are controlled to follow a straight-line path whilst being affected by an unknown ...
    • A control-oriented model of underwater snake robots exposed to currents 

      Kohl, Anna M.; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Conference object; Journal article; Peer reviewed, 2015)
      This paper presents a control-oriented model of a neutrally buoyant underwater snake robot that is exposed to a constant irrotational current. The robot is assumed to move in a horizontal, fully submerged plane with a ...
    • A Control–Oriented Model of Underwater Snake Robots 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Conference Publications;ROBIO 2014, Conference object; Journal article; Peer reviewed, 2014)
      In this paper we consider swimming underwater snake robots that are fully immersed in water and moving in a virtual horizontal plane. The main objective of the paper is to develop a model that is well suited for control ...
    • A dither-free extremum-seeking control approach using 1st-order least-squares fits for gradient estimation 

      Hunnekens, Bram; Haring, Mark; van de Wouw, Nathan; Nijmeijer, Hendrik (Conference object, 2014)
    • A Framework for Diagnosis of Critical Faults in Unmanned Aerial Vehicles 

      Hansen, Søren; Blanke, Mogens; Adrian, Jens (Conference object; Journal article; Peer reviewed, 2014)
      Unmanned Aerial Vehicles (UAVs) need a large degree of tolerance towards faults. If not diagnosed and handled in time, many types of faults can have catastrophic consequences if they occur during flight. Prognosis of faults ...
    • A hybrid approach to underwater docking of AUVs with cross-current 

      Henriksen, Vegard F; Brekke, Edmund Førland; Pettersen, Kristin Ytterstad; Sans-Muntadas, Albert (Conference object; Journal article; Peer reviewed, 2016)
      This paper proposes a docking maneuver for an underactuated autonomous underwater vehicle (AUV) to dock into a funnel shaped docking station. The novelty of the proposed approach is enabling an underactuated AUV that is ...
    • A hybrid model of obstacle-aided snake robot locomotion 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Conference object, 2010)
      A snake can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This characteristic feature of biological snake locomotion, denoted obstacle-aided ...
    • A modular and waterproof snake robot joint mechanism with a novel force/torque sensor 

      Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (IEEE International Conference on Intelligent Robots and Systems. Proceedings;2012, Conference object, 2012)
      This paper presents the design of a waterproof and mechanically robust joint module for the snake robot Mamba. The main contribution of the module is a custom-designed force/torque sensor based on strain gauges, which ...
    • A Multi-Modal Approach for Hand Motion Classification Using Surface EMG and Accelerometers 

      Fougner, Anders Lyngvi; Scheme, Erik; Chan, Adrian D. C.; Englehart, Kevin; Stavdahl, Øyvind (IEEE Engineering in Medicine and Biology Society. Conference Proceedings;6091054, Conference object; Journal article; Peer reviewed, 2011)
      For decades, electromyography (EMG) has been used for diagnostics, upper-limb prosthesis control, and recently even for more general human-machine interfaces. Current commercial upper limb prostheses usually have only two ...
    • A simplified model of planar snake robot locomotion 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Conference object, 2010)
      This paper presents a model of the kinematics and dynamics of a planar, wheelless snake robot aimed at control design and stability analysis purposes. The proposed model is significantly less complex than existing models ...
    • A snake robot with a contact force measurement system for obstacle-aided locomotion 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind (Conference object, 2010)
      A snake robot can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This is denoted obstacle-aided locomotion and requires the snake robot to have ...
    • A strategy for robust precision control of an endbody being towed by an orbiting UAV 

      Merz, Mariann; Johansen, Tor Arne (Chapter; Conference object, 2017)
      This paper presents a strategy for end-body positioning maneuvers using a towed cablebody system where a fixed wing Unmanned Aerial Vehicle (UAV) is stabilized in a circular orbit. High precision maneuvers such as object ...
    • A Uniformly Semiglobally Exponentially Stable Nonlinear Observer for GNSS- and Camera-Aided Inertial Navigation 

      Fusini, Lorenzo; Fossen, Thor I.; Johansen, Tor Arne (Conference object; Journal article; Peer reviewed, 2014)
      In this paper a nonlinear observer for estimation of position, velocity, acceleration, attitude and gyro bias of an Unmanned Aerial Vehicle (UAV) is proposed. The sensor suite consists of an Inertial Measurement Unit (IMU), ...
    • Active camera control with obstacle avoidance for remote operations with industrial manipulators: Implementation and experimental results 

      Bjerkeng, Magnus; Transeth, Aksel Andreas; Pettersen, Kristin Ytterstad; Kyrkjebø, Erik; Fjerdingen, Sigrud Aksnes (Conference object, 2011)
      Remote controlled robots on offshore oil and gas platforms can potentially reduce costs and improve environment, health and safety issues. A key to successful remote control is to provide onshore operators with a sufficient ...
    • An Augmented Lagrangian Method for Optimal Control of Continuous Time DAE Systems 

      Aguiar, Marco Aurelio Schmitz de; Camponogara, Eduardo; Foss, Bjarne Anton (Conference object; Journal article; Peer reviewed, 2016)
      This works presents an algorithm for solving optimal control problems (OCP) of differential algebraic equations (DAE) based on the augmented Lagrangian method. The algorithm relaxes the algebraic equations and solves a ...
    • An exact penalty-function approach to proactive fault-tolerant economic MPC 

      Knudsen, Brage Rugstad; Brusevold, Jon Håman; Foss, Bjarne Anton (Chapter; Conference object; Peer reviewed, 2017)
      This paper presents a fault-tolerant economic model predictive control scheme for proactive handling of incipient actuator faults. The scheme applies an L1 exact penalty function with a set of switching rules in order to ...
    • Analysis of underwater snake robot locomotion based on a control-oriented model 

      Kohl, Anna M.; Pettersen, Kristin Ytterstad; Kelasidi, Eleni; Gravdahl, Jan Tommy (Proceedings of the 2015 IEEE Conference on Robotics and Biomimetics;, Journal article; Conference object; Peer reviewed, 2015)
      This paper presents an analysis of planar underwater snake robot locomotion in the presence of ocean currents. The robot is assumed to be neutrally buoyant and move fully submerged with a planar sinusoidal gait and limited ...
    • Apparent impedance analysis: A new method for power system stability analysis 

      Rygg, Atle; Amin, Mohammad; Molinas Cabrera, Maria Marta; Gustavsen, Bjørn Alfred (Conference object; Peer reviewed, 2016)
      In this paper a new method for power system stability analysis is introduced. The method is based on injection of a small voltage or current in an arbitrary point of the system. The apparent impedance is defined as the ...
    • Autonomous search and tracking of objects using model predictive control of unmanned aerial vehicle and gimbal: Hardware-in-the-loop simulation of payload and avionics 

      Skjong, Espen; Nundal, Stian Aa.; Leira, Frederik Stendahl; Johansen, Tor Arne (Conference object; Journal article; Peer reviewed, 2015)
      This paper describes the design of model predictive control (MPC) for an unmanned aerial vehicle (UAV) used to track objects of interest identified by a real-time camera vision (CV) module in a search and track (SAT) ...
    • Body Shape and Orientation Control for Locomotion of Biologically-Inspired Snake Robots 

      Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Liljebäck, Pål (Biomedical Robotics and Biomechatronics;5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Conference object; Journal article; Peer reviewed, 2014)
      This paper considers guidance-based motion control of planar snake robots using a dynamic feedback control law. We first present the Euler-Lagrange equations of motion of the robot. Subsequently, we introduce a dynamic ...