Now showing items 1-20 of 851

    • 150 Years of the Mass Action Law 

      Voit, Eberhard; Martens, Harald; Omholt, Stig William (Journal article; Peer reviewed, 2015)
      This year we celebrate the 150th anniversary of the law of mass action. This law is often assumed to have been “there” forever, but it has its own history, background, and a definite starting point. The law has had an ...
    • 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 3D reactive collision avoidance algorithm for underactuated underwater vehicles 

      Syre Wiig, Martin; Pettersen, Kristin Y.; Krogstad, Thomas Røbekk (Peer reviewed; Journal article, 2020)
      Avoiding collisions is an essential goal of the control system of autonomous vehicles. This paper presents a reactive algorithm for avoiding obstacles in a three‐dimensional space, and shows how the algorithm can be applied ...
    • A 3DOF Path-Following Controller for a Non-Directionally Stable Vessel with Slow Thruster Dynamics 

      Thyri, Emil Hjelseth; Bitar, Glenn Ivan; Breivik, Morten (Peer reviewed; Journal article, 2021)
      In this paper, a 3DOF path-following controller for an electric double-ended passenger ferry prototype is presented. The controller is formulated through a 3-step backstepping approach, taking into consideration several ...
    • A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles 

      Syre Wiig, Martin; Pettersen, Kristin; Krogstad, Thomas Røbekk (Journal article; Peer reviewed, 2019)
      This paper presents a 3D reactive collision avoidance algorithm for vehicles with underactuated dynamics. The underactuated states cannot be directly controlled, but are controlled indirectly by steering the direction of ...
    • A Benchmarking Framework for Control Methods of Maritime Cranes Based on the Functional Mockup Interface 

      Sanfilippo, Filippo; Hatledal, Lars Ivar; Pettersen, Kristin Ytterstad; Zhang, Houxiang (Journal article, 2017)
      A benchmark framework for advanced control methods of maritime cranes is presented based on the use of the functional mockup interface. The system integrates different manipulator models, all the corresponding hydraulic ...
    • A Comparative Study of Different Control Structures for Flight Control with New Results 

      Oland, Espen; Kristiansen, Raymond; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2018)
      This paper presents several different control structures that facilitate flight control and does a comparison between them. Specifically, this paper considers command-filtered backstepping, nonlinear dynamic inversion ...
    • A computational pipeline for quantification of mouse myocardial stiffness parameters 

      Nordbø, Øyvind; Lamata, P.; Land, Sander; Niederer, Steven A.; Aronsen, Jan Magnus; Louch, William Edward; Sjaastad, Ivar; Martens, Harald; Gjuvsland, Arne Bjørke; Tøndel, Kristin; Torp, Hans; Lohezic, M; Schneider, Jürgen; Remme, Espen W.; Smith, Nicolas P; Omholt, Stig W; Vik, Jon Olav (Journal article; Peer reviewed, 2014)
      The mouse is an important model for theoretical–experimental cardiac research, and biophysically based whole organ models of the mouse heart are now within reach. However, the passive material properties of mouse myocardium ...
    • A computationally efficient model predictive control scheme for space debris rendezvous 

      Larsén, Alexander; Chen, Yutao; Bruschetta, Mattia; Carli, Ruggero; Cenedese, Angelo; Varagnolo, Damiano; Felicetti, Leonard (Journal article; Peer reviewed, 2019)
      We propose a non-linear model predictive scheme for planning fuel efficient maneuvers of small spacecrafts that shall rendezvous space debris. The paper addresses the specific issues of potential limited on-board computational ...
    • 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 control framework for snake robot locomotion based on shape control points interconnected by Bézier curves 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2012)
      This paper presents a control framework for shape control of snake robots for the purpose of locomotion. An advantage of the framework is that it allows the macroscopic shape of a snake robot to be controlled explicitly ...
    • 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 Cyber-Physical Systems Approach for Implementing the Receding Horizon Optimal Power Flow in Smart Grids 

      Maffei, Alessio; Srinivasan, Seshadhri; Meola, Daniela; Palmieri, Giovanni; Iannelli, Luigi; Holhjem, Øystein Hov; Marafioti, Giancarlo; Mathisen, Geir; Glielmo, Luigi (Journal article; Peer reviewed, 2017)
      Two Major challenges in securing reliable Optimal Power Flow (OPF) operations are: (i) fluctuations induced due to renewable generators and energy demand, and (ii) interaction and interoperability among the different ...
    • A deep learning enabler for non-intrusive reduced order modeling of fluid flows 

      Pawar, Suraj; Rahman, Sk. Mashfiqur; Vaddireddy, H; San, Omer; Rasheed, Adil; Vedula, Prakash (Journal article; Peer reviewed, 2019)
      In this paper, we introduce a modular deep neural network (DNN) framework for data-driven reduced order modeling of dynamical systems relevant to fluid flows. We propose various DNN architectures which numerically predict ...
    • A Delay Vector Variance based Approach for Detecting and Isolating the Non-linearity Induced Oscillations in Control Loops 

      Aftab, Muhammad Faisal; Hovd, Morten; Sivalingam, Selvanathan (Journal article, 2017)
      Non-linear time series analysis based methods are a popular choice for industrial control loop data analysis. In this paper a delay vector variance (DVV) based approach is presented to analyze the source of oscillations ...
    • A Distributed Algorithm for Scenario-based Model Predictive Control using Primal Decomposition * 

      Krishnamoorthy, Dinesh; Foss, Bjarne Anton; Skogestad, Sigurd (Journal article; Peer reviewed, 2018)
      In this paper, we consider the decomposition of scenario-based model predictive control problem. Scenario MPC explicitly considers the concept of recourse by representing the evolution of uncertainty by a discrete scenario ...
    • A distributed parameter systems view of control problems in drilling 

      Di Meglio, Florent; Aarsnes, Ulf Jakob Flø (Journal article; Peer reviewed, 2015)
      We give a detailed view of estimation and control problems raised by the drilling process where the distributed nature of the system cannot be ignored. In particular, we focus on the transport phenomena in Managed Pressure ...
    • A Dynamic Window-Based Controller for Dynamic Positioning Satisfying Actuator Magnitude Constraints 

      Sørensen, Mikkel Nørgaard; Lyngstadaas, Ole Nikolai; Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Journal article, 2018)
      This paper considers the use of a simplified dynamic window (DW) algorithm to handle actuator magnitude constraints for a 3 degrees-of-freedom dynamic positioning controller for ships. To accomplish this, we use the ...
    • A Fault Tolerant Control Scheme Using the Feasible Constrained Control Allocation Strategy 

      Naderi, Mehdi; Johansen, Tor Arne; Sedigh, Ali K. (Journal article; Peer reviewed, 2019)
      This paper investigates the necessity of feasibility considerations in a fault tolerant control system using the constrained control allocation methodology where both static and dynamic actuator constraints are considered. ...