Control of light vehicle-manipulator systems

Project Information

CREME

Grant agreement ID: 101017697

DOI

10.3030/101017697

EC signature date 11 May 2021

Start date 1 August 2021

End date 31 July 2026

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost

€ 2 499 101,88

EU contribution

€ 2 499 101,88

Coordinated by

NORGES TEKNISK-NATURVITENSKAPELIGE UNIVERSITET NTNU
Norway

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Publications

Conference proceedings (15)

Robust Task-Priority Impedance Control for Vehicle-Manipulator Systems

Author(s): Bjørn Kåre Sæbø, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: 2022
Publisher: IEEE
DOI: 10.1109/ccta49430.2022.9966055

Model Predictive Task-Priority Control using Control Lyapunov Functions

Author(s): Eirik L. Foseid, Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: 2024 European Control Conference (ECC), 2024, Page(s) 3185-3192
Publisher: IEEE
DOI: 10.23919/ecc64448.2024.10591286

Hardware-in-the-Loop Simulation of Vehicle Manipulator Systems for Physical Interaction Tasks

Author(s): Das Hemjyoti, Bjørn Kåre Sæbø, Kristin Y. Pettersen, Christian Ott
Published in: 2023
Publisher: IEEE
DOI: 10.1109/iros55552.2023.10342250

Data-driven control of planar snake robot locomotion

Author(s): Maria Scarpa, Benita Nortmann, Kristin Y. Pettersen, Thulasi Mylvaganam
Published in: 2022
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9992937

Synergistic PID and Output Feedback Control on Matrix Lie Groups

Author(s): Erlend Andreas Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: 2023
Publisher: Elsevier Ldt.
DOI: 10.1016/j.ifacol.2023.02.021

Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots

Author(s): Amer Orucevic, Jan Tommy Gravdahl, Kristin Y. Pettersen, Antoine Chaillet
Published in: 2022
Publisher: IEEE
DOI: 10.1109/ccta49430.2022.9966034

Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots

Author(s): Ivan Ivanov Gushkov, Amer Orucevic, Kristin Y. Pettersen, Weijia Yao, Jan Tommy Gravdahl
Published in: 2023
Publisher: IEEE
DOI: 10.1109/ccta54093.2023.10252704

Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems

Author(s): Jan Inge Dyrhaug, Erling Tveter, Henrik Schmidt-Didlaukies, Erlend Andreas Basso, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: 2023
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2023.10.373

Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion

Author(s): Mads Erlend Bøe Lysø, Esten Ingar Grøtli, Kristin Y. Pettersen
Published in: 2023
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2023.10.419

A Generalization of Synergistic Hybrid Feedback Control with Application to Maneuvering Control of Ships

Author(s): Henrik M. Schmidt-Didlaukies, Erlend Andreas Basso, Asgeir Johan Sørensen, Kristin Y. Pettersen
Published in: 2022
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9992911

Global Asymptotic Position and Heading Tracking for Multirotors using Tuning Function-based Adaptive Hybrid Feedback

Author(s): Erlend Andreas Basso, Henrik M. Schmidt-Didlaukies, Kristin Y Pettersen, Asgeir Johan Sørensen
Published in: 2022
Publisher: IEEE

Task-Priority Operational Space Control for Vehicle-Manipulator Systems with Modelling Errors

Author(s): Markus Høgevoll Iversflaten, Bjørn Kåre Sæbø, Erlend Andreas Basso, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: 2023
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2023.10.374

Optimal Positioning of Snake Robots in Vortex Wakes using Extremum-Seeking Control

Author(s): Amer Orucevic, Mads Erlend Bøe Lysø, Henrik Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: 2023
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2023.10.535

Hierarchical Compliance-Control-Based Docking of a UVMS

Author(s): Torje Nysæther, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: 2023
Publisher: IEEE
DOI: 10.23919/oceans52994.2023.10337147

Kinematic and Dynamic Control of Cooperating Underwater Vehicle-Manipulator Systems

Author(s): Markus H. Iversflaten, Aurora Haraldsen, Kristin Y. Pettersen
Published in: 2022
Publisher: Elsevier Ldt.
DOI: 10.1016/j.ifacol.2022.10.417​​​​​​​

Peer reviewed articles (6)

Input-to-State Stable Integral Line-of-Sight Guidance for Curved Paths With Anti-Windup Guarantees

Author(s): Henrik M. Schmidt-Didlaukies, Erlend A. Basso, Kristin Y. Pettersen
Published in: IEEE Control Systems Letters, Issue 8, 2024, Page(s) 730-735, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2024.3402910

Global Asymptotic Position and Heading Tracking for Multirotors Using Tuning Function-Based Adaptive Hybrid Feedback

Author(s): Erlend A. Basso; Henrik M. Schmidt-Didlaukies; Kristin Y. Pettersen
Published in: IEEE Control Systems Letters, Issue Vol. 7, 2022, Page(s) 295-300, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2022.3187505

Global Asymptotic Tracking for Marine Vehicles using Adaptive Hybrid Feedback

Author(s): Erlend Andreas Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Asgeir Johan Sørensen
Published in: IEEE Transactions on Automatic Control, Issue Volume: 68, Issue: 3, March 2023, 2023, Page(s) 1584 - 1599, ISSN 1558-2523
Publisher: IEEE
DOI: 10.1109/tac.2022.3161372

Automatic alignment of underwater snake robots operating in wakes of bluff bodies

Author(s): Amer Orucevic, Marianna Wrzos-Kaminska, Mads Erlend Bøe Lysø, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl
Published in: Control Engineering Practice, Issue 147, 2024, Page(s) 105904, ISSN 0967-0661
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.conengprac.2024.105904

Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots

Author(s): Amer Orucevic, Marianna Wrzos-Kaminaks, Jan Tommy Gravdahl, Kristin Y. Pettersen
Published in: IEEE Transactions on Control Systems Technology, 2023, Page(s) 1-16, ISSN 1558-0865
Publisher: IEEE
DOI: 10.1109/tcst.2023.3345211

The generalized super-twisting algorithm with adaptive gains

Author(s): Ida-Louise Borlaug, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: International Journal of Robust and Nonlinear Control, Issue Vol. 32, No. 13, 2022, 2022, Page(s) 7240 - 7270, ISSN 1099-1239
Publisher: John Wiley & Sons Ltd
DOI: 10.1002/rnc.6212

Thesis and dissertations (3)

Modeling and Hybrid Feedback Control of Underwater Vehicles

Author(s): Henrik M. Schmidt-Didlaukies
Published in: 2023, ISBN 978-82-326-6448-1
Publisher: NTNU

Efficient Propulsion and Practical Stabilization of Underwater Snake Robots

Author(s): Amer Orucevic
Published in: 2023
Publisher: NTNU

Nonlinear and Hybrid Feedback Control of Marine Vehicles and Multirotors

Author(s): Erlend Andreas Basso
Published in: 2022, ISBN 978-82-326-5429-1
Publisher: NTNU