• A Reactive Collision Avoidance Algorithm for Vehicles with Underactuated Dynamics 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (Journal article; Peer reviewed, 2017)
      This paper presents a reactive collision avoidance algorithm, which avoids both static and moving obstacles by keeping a constant avoidance angle between the vehicle velocity vector and the obstacle. In particular, we ...
    • Adaptive Control of a Nanopositioning Device 

      Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2012)
      High-bandwidth tracking control is desirable in many nanopositioning applications, including scanning probe microscopy. Typical nanopositioner designs have several sources of uncertainty which can degrade control performance, ...
    • Direct predictive control of a first-order quasilinear hyperbolic PDE 

      Strecker, Timm; Aamo, Ole Morten; Cantoni, Michael (Journal article; Peer reviewed, 2019)
      We present a method for the boundary controlof a system governed by one hyperbolic PDE with a non-localcoupling term by state feedback. The method is an extensionof recently developed controllers for semilinear systems. ...
    • Direction Following Control of Planar Snake Robots Using Virtual Holonomic Constraints 

      Mohammadi, Alireza; Rezapour, Ehsan; Maggiore, Manfredi; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2015)
      This paper investigates the problem of direction following for planar snake robots. The control objective is to regulate the linear velocity vector of the snake robot to a constant reference while guaranteeing boundedness ...
    • Economic model predictive control for snake robot locomotion 

      Nonhoff, Marko; köhler, philipp; Kohl, Anna M; Pettersen, Kristin Ytterstad; Allgower, Frank (Journal article; Peer reviewed, 2019)
      Abstract— In this work, the control of snake robot loco-motion via economic model predictive control (MPC) is studied.Only very few examples of applications of MPC to snake robotsexist and rigorous proofs for recursive ...
    • Stability analysis of snake robot locomotion based on averaging theory 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2011)
      This paper investigates the controllability and stability properties of a planar snake robot influenced by anisotropic viscous ground friction. An analysis of the model shows that any asymptotically stabilizing control law ...
    • Voronoi-Based Deployment of Multi-Agent Systems 

      Hatleskog, Johan; Olaru, Sorin; Hovd, Morten (Peer reviewed; Journal article, 2019)
      This paper considers a decentralized control scheme for Voronoi-based deployment of discrete-time multiagent dynamical systems within multi-dimensional static convex polytopic environments. The deployment objective is to ...