Control of light vehicle-manipulator systems

Información del proyecto

CREME

Identificador del acuerdo de subvención: 101017697

DOI

10.3030/101017697

Fecha de la firma de la CE 11 Mayo 2021

Fecha de inicio 1 Agosto 2021

Fecha de finalización 31 Julio 2026

Financiado con arreglo a

• EXCELLENT SCIENCE - European Research Council (ERC)

Coste total

€ 2 499 101,88

Aportación de la UE

€ 2 499 101,88

Coordinado por

NORGES TEKNISK-NATURVITENSKAPELIGE UNIVERSITET NTNU
Norway

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Publicaciones

Conference proceedings (33)

Recursively Feasible MPC for Underactuated Euler-Lagrange Systems with Application to Snake Robot Locomotion

Autores: Ivan Gushkov, Henrik M. Schmidt-Didlaukies, Mads Erlend Bøe Lysø, Kristin Y. Pettersen, Jan Tommy Gravdahl, Matthias Köhler, Jonas Mair
Publicado en: 2025 IEEE 64th Conference on Decision and Control (CDC), 2026, Página(s) 6458-6465
Editor: IEEE
DOI: 10.1109/cdc57313.2025.11312632

Robust Task-Priority Impedance Control for Vehicle-Manipulator Systems

Autores: Bjørn Kåre Sæbø, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2022
Editor: IEEE
DOI: 10.1109/ccta49430.2022.9966055

Terrain-Following Guidance for Underwater Vehicles

Autores: Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen
Publicado en: 2025 IEEE 64th Conference on Decision and Control (CDC), 2026, Página(s) 3589-3594
Editor: IEEE
DOI: 10.1109/cdc57313.2025.11312627

Learning Optimal Guidance Schemes with Safety Guarantees for Underactuated Marine Vehicles

Autores: Eirik L. Foseid, Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Mathias Marley, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 354-359, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.079

Model Predictive Task-Priority Control using Control Lyapunov Functions

Autores: Eirik L. Foseid, Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2024 European Control Conference (ECC), 2024, Página(s) 3185-3192
Editor: IEEE
DOI: 10.23919/ecc64448.2024.10591286

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

Autores: Das Hemjyoti, Bjørn Kåre Sæbø, Kristin Y. Pettersen, Christian Ott
Publicado en: 2023
Editor: IEEE
DOI: 10.1109/iros55552.2023.10342250

Data-driven control of planar snake robot locomotion

Autores: Maria Scarpa, Benita Nortmann, Kristin Y. Pettersen, Thulasi Mylvaganam
Publicado en: 2022
Editor: IEEE
DOI: 10.1109/cdc51059.2022.9992937

Energy-Shaping Control for Swimming in Underwater Snake Robots

Autores: Mads Erlend Bøe Lysø, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 360-367, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.080

Sparse Reconstruction of Forces, Torques, and Velocity Signals for a Swimmer in a Wake

Autores: Ivan Gushkov, Simon Hoff, Amer Orucevic, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: Lecture Notes in Control and Information Sciences - Proceedings, Systems Theory in Data and Optimization, 2026, Página(s) 181-196
Editor: Springer Nature Switzerland
DOI: 10.1007/978-3-031-83191-1_12

Kinematic Task-Priority Path Following for Articulated Marine Vehicles

Autores: Bjørn Kåre Sæbø, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 65-72, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.034

MPC Path Following with Macroscopic Shape Adjustment for AIAUVs

Autores: Ivan Gushkov, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 368-373, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.081

Orbital Control for Swimming in Underwater Snake Robots using Energy-Shaping and Consensus Control*

Autores: Mads Erlend Bøe Lysø, Elena Panteley, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2024 IEEE 63rd Conference on Decision and Control (CDC), 2025, Página(s) 2244-2251
Editor: IEEE
DOI: 10.1109/cdc56724.2024.10885850

Synergistic PID and Output Feedback Control on Matrix Lie Groups

Autores: Erlend Andreas Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2023
Editor: Elsevier Ldt.
DOI: 10.1016/j.ifacol.2023.02.021

Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots

Autores: Amer Orucevic, Jan Tommy Gravdahl, Kristin Y. Pettersen, Antoine Chaillet
Publicado en: 2022
Editor: IEEE
DOI: 10.1109/ccta49430.2022.9966034

Underwater vehicle navigation using bearing measurements from a mobile beacon

Autores: Simon A. Hoff, Henrik M. Schmidt-Didlaukies, Erlend A. Basso, Damiano Varagnolo, Kristin Y. Pettersen
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 464-469, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.097

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

Autores: Ivan Ivanov Gushkov, Amer Orucevic, Kristin Y. Pettersen, Weijia Yao, Jan Tommy Gravdahl
Publicado en: 2023
Editor: IEEE
DOI: 10.1109/ccta54093.2023.10252704

Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems

Autores: Jan Inge Dyrhaug, Erling Tveter, Henrik Schmidt-Didlaukies, Erlend Andreas Basso, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2023
Editor: Elsevier
DOI: 10.1016/j.ifacol.2023.10.373

Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion

Autores: Mads Erlend Bøe Lysø, Esten Ingar Grøtli, Kristin Y. Pettersen
Publicado en: 2023
Editor: Elsevier
DOI: 10.1016/j.ifacol.2023.10.419

Centralized Underwater Cooperative Transport with Safety Constraints

Autores: Markus H. Iversflaten, Henrik Schmidt-Didlaukies, Jan Tommy Gravdahl, Kristin Y. Pettersen
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 139-146, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.045

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

Autores: Henrik M. Schmidt-Didlaukies, Erlend Andreas Basso, Asgeir Johan Sørensen, Kristin Y. Pettersen
Publicado en: 2022
Editor: IEEE
DOI: 10.1109/cdc51059.2022.9992911

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

Autores: Erlend Andreas Basso, Henrik M. Schmidt-Didlaukies, Kristin Y Pettersen, Asgeir Johan Sørensen
Publicado en: 2022
Editor: IEEE

Nonlinear model predictive control for sinusoidal gait tracking for an underwater snake robot

Autores: Amer Orucevic, Eirik Lothe Foseid, Mads Erlend Bøe Lysø, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 253-258, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.063

Robust Interaction using Generalized Super-Twisting Impedance Control

Autores: Jan Inge Dyrhaug, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 499-505, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.103

Adaptive Line-of-Sight Path Following for Curved Paths as a Maneuvering Problem

Autores: Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen
Publicado en: 2024 IEEE 63rd Conference on Decision and Control (CDC), 2025, Página(s) 7393-7398
Editor: IEEE
DOI: 10.1109/cdc56724.2024.10886509

Hybrid Control Barrier Functions for Nonholonomic Multi-Agent Systems

Autores: Aurora Haraldsen, Josef Matouš, Kristin Y. Pettersen
Publicado en: 2025 IEEE 64th Conference on Decision and Control (CDC), 2026, Página(s) 2555-2562
Editor: IEEE
DOI: 10.1109/cdc57313.2025.11312160

Unifying the Generalized Jacobian Matrix and prioritized task hierarchies, with application to free-floating VMSs

Autores: Marianna Wrzos-Kaminska, Bjørn Kåre Sæbø, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 79-86, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.036

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

Autores: Markus Høgevoll Iversflaten, Bjørn Kåre Sæbø, Erlend Andreas Basso, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2023
Editor: Elsevier
DOI: 10.1016/j.ifacol.2023.10.374

Super-Twisting Impedance Control for Robust and Compliant Interaction using a Redundant Robot Manipulator

Autores: Jan Inge Dyrhaug, Eirik Lothe Foseid, Henrik M. Schmidt-Didlaukies, Erlend A. Basso, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2025, Página(s) 618-623, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2025.01.034

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

Autores: Amer Orucevic, Mads Erlend Bøe Lysø, Henrik Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2023
Editor: Elsevier
DOI: 10.1016/j.ifacol.2023.10.535

Power-Based Safety Constraint for Redundant Robotic Manipulators

Autores: Erling Tveter, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 347-353, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.078

Hierarchical Compliance-Control-Based Docking of a UVMS

Autores: Torje Nysæther, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2023
Editor: IEEE
DOI: 10.23919/oceans52994.2023.10337147

Exponentially Stable Robust Hierarchical Tracking Control for Vehicle-Manipulator Systems

Autores: Marianna Wrzos-Kaminska, Jan Inge Dyrhaug, Bjørn Kåre Sæbø, Jan Tommy Gravdahl, Kristin Y. Pettersen
Publicado en: 2025 IEEE Conference on Control Technology and Applications (CCTA), 2025, Página(s) 01-08
Editor: IEEE
DOI: 10.1109/ccta53793.2025.11151363

Kinematic and Dynamic Control of Cooperating Underwater Vehicle-Manipulator Systems

Autores: Markus H. Iversflaten, Aurora Haraldsen, Kristin Y. Pettersen
Publicado en: 2022
Editor: Elsevier Ldt.
DOI: 10.1016/j.ifacol.2022.10.417​​​​​​​

Peer reviewed articles (10)

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

Autores: Henrik M. Schmidt-Didlaukies, Erlend A. Basso, Kristin Y. Pettersen
Publicado en: IEEE Control Systems Letters, Edición 8, 2024, Página(s) 730-735, ISSN 2475-1456
Editor: IEEE
DOI: 10.1109/lcsys.2024.3402910

Line-of-Sight Guidance: Learning to Look Ahead in Three Dimensions

Autores: Eirik L. Foseid, Henrik M. Schmidt-Didlaukies, Erlend A. Basso, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IEEE Control Systems Letters, Edición 9, 2025, Página(s) 1387-1392, ISSN 2475-1456
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2025.3579758

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

Autores: Erlend A. Basso; Henrik M. Schmidt-Didlaukies; Kristin Y. Pettersen
Publicado en: IEEE Control Systems Letters, Edición Vol. 7, 2022, Página(s) 295-300, ISSN 2475-1456
Editor: IEEE
DOI: 10.1109/lcsys.2022.3187505

Line-of-Sight Guidance: Learning to Look Ahead

Autores: Eirik Lothe Foseid, Erlend Andreas Basso, Henrik M. Schmidt-Didlaukies, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl
Publicado en: IEEE Journal of Oceanic Engineering, Edición 50, 2025, Página(s) 1637-1646, ISSN 0364-9059
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/joe.2024.3503765

Global Asymptotic Tracking for Marine Vehicles using Adaptive Hybrid Feedback

Autores: Erlend Andreas Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Asgeir Johan Sørensen
Publicado en: IEEE Transactions on Automatic Control, Edición Volume: 68, Edición: 3, March 2023, 2023, Página(s) 1584 - 1599, ISSN 1558-2523
Editor: IEEE
DOI: 10.1109/tac.2022.3161372

Passive Multi-Task Compliance Control With Strict Priority Through Energy Tanks

Autores: Erling Tveter, Bjørn Kåre Sæbø, Christian Ott, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IEEE Robotics and Automation Letters, Edición 10, 2025, Página(s) 8786-8793, ISSN 2377-3766
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lra.2025.3588045

Super-twisting impedance control of redundant robots

Autores: Jan Inge Dyrhaug, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: Mechatronics, Edición 114, 2026, Página(s) 103448, ISSN 0957-4158
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2025.103448

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

Autores: Amer Orucevic, Marianna Wrzos-Kaminska, Mads Erlend Bøe Lysø, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl
Publicado en: Control Engineering Practice, Edición 147, 2024, Página(s) 105904, ISSN 0967-0661
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.conengprac.2024.105904

Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots

Autores: Amer Orucevic, Marianna Wrzos-Kaminaks, Jan Tommy Gravdahl, Kristin Y. Pettersen
Publicado en: IEEE Transactions on Control Systems Technology, 2023, Página(s) 1-16, ISSN 1558-0865
Editor: IEEE
DOI: 10.1109/tcst.2023.3345211

The generalized super-twisting algorithm with adaptive gains

Autores: Ida-Louise Borlaug, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: International Journal of Robust and Nonlinear Control, Edición Vol. 32, No. 13, 2022, 2022, Página(s) 7240 - 7270, ISSN 1099-1239
Editor: John Wiley & Sons Ltd
DOI: 10.1002/rnc.6212

Thesis and dissertations (4)

Modeling and Hybrid Feedback Control of Underwater Vehicles

Autores: Henrik M. Schmidt-Didlaukies
Publicado en: 2023, ISBN 978-82-326-6448-1
Editor: NTNU

Nonlinear Control of Articulated Intervention-AUVs and Underwater Snake Robots

Autores: Marianna Wrzos-Kaminska
Publicado en: 2025
Editor: NTNU

Efficient Propulsion and Practical Stabilization of Underwater Snake Robots

Autores: Amer Orucevic
Publicado en: 2023
Editor: NTNU

Nonlinear and Hybrid Feedback Control of Marine Vehicles and Multirotors

Autores: Erlend Andreas Basso
Publicado en: 2022, ISBN 978-82-326-5429-1
Editor: NTNU