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

Publications

Conference proceedings (14)

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

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 (4)

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

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 (2)

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

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