Browsing Institutt for teknisk kybernetikk by Document Types "Journal article"
Now showing items 1-20 of 1260
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150 Years of the Mass Action Law
(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 ... -
A 3D reactive collision avoidance algorithm for underactuated underwater vehicles
(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
(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
(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
(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
(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
(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
(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
(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
(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 Cyber-Physical Systems Approach for Implementing the Receding Horizon Optimal Power Flow in Smart Grids
(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
(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
(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 *
(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
(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 dither-free extremum-seeking control approach using 1st-order least-squares fits for gradient estimation
(Journal article; Peer reviewed, 2014) -
A Dynamic Window-Based Controller for Dynamic Positioning Satisfying Actuator Magnitude Constraints
(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
(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. ... -
A Framework for Diagnosis of Critical Faults in Unmanned Aerial Vehicles
(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 Framework for Fault Diagnosis in Managed Pressure Drilling Applied to Flow-Loop Data
(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, ...