Browsing Øvrige samlinger by Subject "Bevegelsesstyring"
Now showing items 1-4 of 4
-
Maneuvering with safety guarantees using control barrier functions
(Journal article; Peer reviewed, 2021)Control barrier functions (CBFs) ensure safety of controlled dynamical systems, by restricting the control inputs to render desired sets forward invariant. In this paper we propose a dynamic guidance scheme for autonomous ... -
Optimal Force Allocation for Overconstrained Cable-Driven Parallel Robots: Continuously Differentiable Solutions With Assessment of Computational Efficiency
(Peer reviewed; Journal article, 2020)In this article, we present a novel method for force allocation for overconstrained cable-driven parallel robot setups that guarantees continuously differentiable cable forces and allows for small penalized errors in the ... -
A survey on modeling and control of thruster-assisted position mooring systems
(Peer reviewed; Journal article, 2020)This review presents a systematic summary of the state-of-the-art development of technological solutions, modeling, and control strategies of thruster-assisted position mooring (TAPM) systems. The survey serves as a starting ... -
Synergistic control barrier functions with application to obstacle avoidance for nonholonomic vehicles
(Chapter, 2021)Control barrier functions (CBFs) have recently emerged as a means to ensure safety of controlled dynamical systems. CBFs are suitable for obstacle avoidance, where the CBF is often constructed from the distance and relative ...