Browsing Publikasjoner fra CRIStin - NTNU by Journals "IEEE Conference on Decision and Control. Proceedings"
Now showing items 1-12 of 12
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A Reactive Collision Avoidance Algorithm for Vehicles with Underactuated Dynamics
(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
(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, ... -
Almost Global Three-Dimensional Path-Following Guidance Law for Arbitrary Curved Paths
(Peer reviewed; Journal article, 2023)Motivated by aircraft applications, we revisit the path-following guidance problem in three dimensions. First, by formulating the path-following error directly in the inertial frame, we propose a class of guidance laws for ... -
Direct predictive control of a first-order quasilinear hyperbolic PDE
(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
(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
(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 ... -
Leak detection, size estimation and localization in water distribution networks containing loops
(Peer reviewed; Journal article, 2022)We consider the problem of leak detection, size estimation and localization of leaks in a water distribution network with ring topology, with flow and pressure measurements taken at junctions only. The pipeline system is ... -
Solving Mission-Wide Chance-Constrained Optimal Control Using Dynamic Programming
(Journal article; Peer reviewed, 2022) -
Sparse neural networks with skip-connections for nonlinear system identification
(Peer reviewed; Journal article, 2023) -
Stability analysis of snake robot locomotion based on averaging theory
(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 ... -
Vehicle Safety of the Velocity Obstacle Algorithm
(Peer reviewed; Journal article, 2020)This paper presents a mathematical analysis of the velocity obstacle algorithm applied to a nonholonomic vehicle for avoiding a moving obstacle in the plane. The velocity obstacle algorithm can be used for local navigation ... -
Voronoi-Based Deployment of Multi-Agent Systems
(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 ...