Search Results - "Gravdahl, Jan T."

On Implementation of the Preisach Model: Identification and Inversion for Hysteresis Compensation by Stakvik, Jon Åge, Ragazzon, Michael R.P., Eielsen, Arnfinn A., Gravdahl, Jan T.

“…A challenge for precise positioning in nanopositioning using smart materials is hysteresis, limiting positioning accuracy. The Preisach model, based on the…”
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Experimental investigation of efficient locomotion of underwater snake robots for lateral undulation and eel-like motion patterns by Kelasidi, Eleni, Liljebäck, Pål, Pettersen, Kristin Y., Gravdahl, Jan T.

“…Underwater snake robots offer many interesting capabilities for underwater operations. The long and slender structure of such robots provide superior…”
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A model of relative translation and rotation in leader-follower spacecraft formations by Kristiansen, Raymond, Grøtli, Esten I., Nicklasson, Per J., Gravdahl, Jan T.

“…In this paper, a model of a leader-follower spacecraft formation in six degrees of freedom is derived and presented. The nonlinear model describes the relative…”
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Compressor Surge Control Using Lyapunov Neural Networks by Neverlien, Åse, Moe, Signe, Gravdahl, Jan T.

“…In this paper surge control in a compression system using a close-coupled valve (CCV) is proposed. The control design is based on Lyapunov control theory in…”
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On the Mobility and Fault Tolerance of Closed Chain Manipulators with Passive Joints by From, Pål J., Gravdahl, Jan T.

“…A systematic analysis of the mobility of closed chain manipulators with passive joints is presented. The main observation in this paper is that the mobility of…”
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Formation control of underactuated bio-inspired snake robots by Rezapour, Ehsan, Pettersen, Kristin Y., Gravdahl, Jan T., Hofmann, Andreas

“…This paper considers formation control of snake robots. In particular, based on a simplified locomotion model, and using the method of virtual holonomic…”
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Motion planning and control of robotic manipulators on seaborne platforms by From, Pål J., Gravdahl, Jan T., Lillehagen, Tommy, Abbeel, Pieter

“…Robots on ships have to endure large inertial forces due to the non-inertial motion of the ship. The ship motion affects both the motion planning and control…”
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New Undergraduate Courses in Control by Gravdahl, Jan T., Egeland, Olav

“…In this paper we describe the motivation behind and the contents of two new control courses, Introduction to Computerized Control and Modeling and Simulation…”
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Singularity-free dynamic equations of vehicle–manipulator systems by From, Pål J., Duindam, Vincent, Pettersen, Kristin Y., Gravdahl, Jan T., Sastry, Shankar

“…In this paper we derive the singularity-free dynamic equations of vehicle–manipulator systems using a minimal representation. These systems are normally…”
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Stabilizing a CFD model of an unstable system through model reduction by Hovland, Svein, Gravdahl, Jan T.

“…We demonstate stabilization of a computational fluid dynamics model of an unstable system. The unstable heating of a two-dimensional plate is used as a case…”
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Control-Oriented Model of a Generating Set Comprising a Diesel Engine and a Synchronous Generator by Tuffaha, Mutaz, Gravdahl, Jan T.

“…A generating set (Genset) comprises a prime mover such as a Diesel Engine, and a synchronous generator. The most important controllers of such systems are the…”
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Singularity-free dynamic equations of spacecraft-manipulator systems by From, Pål J., Ytterstad Pettersen, Kristin, Gravdahl, Jan T.

“…In this paper we derive the singularity-free dynamic equations of spacecraft-manipulator systems using a minimal representation. Spacecraft are normally…”
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Line-of-sight curved path following for underactuated USVs and AUVs in the horizontal plane under the influence of ocean currents by Moe, Signe, Pettersen, Kristin Y., Fossen, Thor I., Gravdahl, Jan T.

“…An essential ability of autonomous unmanned surface vessels (USVs) and autonomous underwater vehicles (AUVs) moving in a horizontal plane is to follow a…”
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Neural Network-Based Model Predictive Control with Input-to-State Stability by Seel, Katrine, Grotli, Esten I., Moe, Signe, Gravdahl, Jan T., Pettersen, Kristin Y.

“…Learning-based controllers, and especially learning-based model predictive controllers, have been used for a number of different applications with great…”
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Adaptive Generalized Super-Twisting Tracking Control of an Underwater Vehicle by Haugalokken, Bent O. A., Amundsen, Herman B., Fadum, Hakon S., Gravdahl, Jan T., Ohrem, Sveinung J.

“…Tracking control for unmanned underwater vehicles is essential, both for autonomous operations and complex tasks where the vehicle is manually controlled by a…”
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Speed and surge control for a lower order centrifugal compressor model by Gravdahl, Jan T., Egeland, Olav

“…A model of a variable speed centrifugal compression system is presented. The model is based on the work of Greitzer (1976), but the compressor characteristic…”
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General Solutions to Functional and Kinematic Redundancy by From, Pål J, Gravdahl, Jan T

“…A systematic and general approach to represent functional redundancy is presented. It is shown how this approach allows the freedom provided by functional…”
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General Solutions to Functional and Kinematic Redundancy by From, Pål J., Gravdahl, Jan T.

“…A systematic and general approach to represent functional redundancy is presented. It is shown how this approach allows the freedom provided by functional…”
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Boarding control system for improved accessibility to offshore wind turbines: Full-scale testing by Auestad, Øyvind F., Gravdahl, Jan T., Perez, Tristan, Sørensen, Asgeir J., Espeland, Trygve H.

“…This paper considers the dynamic modelling and motion control of a Surface Effect Ship (SES) for safer transfer of personnel and equipment from vessel…”
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On the influence of ship motion prediction accuracy on motion planning and control of robotic manipulators on seaborne platforms by From, Pål J, Gravdahl, Jan T, Abbeel, Pieter

“…Robotic manipulators on non-inertial platforms, such as ships, have to endure large inertial forces due to the non-inertial motion of the platform. When the…”
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