This paper addresses the boundedness property of the inertia matrix and the skew-symmetric property of the Coriolis matrix for vehicle-manipulator systems. These properties are widely used in Lyapunov-based stability proofs and are therefore important to identify. For example, the skew-symmetric property does not depend on the system at hand, but on the… (More)
The usage of multi-agent systems for manufacturing control seems to be sharply contrasted by classical mathematical control theory. This work emphasizes how views from both scientific fields can be combined to create the flexible and optimal manufacturing control systems of tomorrow.
— Unmanned marine crafts constitute a priority area within several fields of study, and there are still many challenges related to making such vessels autonomous. A basic task of an autonomous marine craft is to follow a general path in the presence of unknown ocean currents. This paper presents a method to achieve this for surface vessels. The results are… (More)
Preface These past six months have been exciting, educational and exhausting; I could not have asked for a better last semester at NTNU. I would like to thank my supervisors Ingrid Schjølberg, Kristin Pettersen and Walter Caharija for great feedback and support during my work on this thesis. I am very grateful for all the help and advice you've given me,… (More)
This paper addresses the boundedness property of the inertia matrix and the skew-symmetric property of the Coriolis matrix for vehicle-manipulator systems. These properties are widely used in control theory and Lyapunov-based stability proofs and thus important to identify. The skew-symmetric property does not depend on the system at hand, but on the… (More)
Multi-link wheeled robots provide interesting opportunities within many areas such as inspection and maintenance of pipes or vents. A key functionality in order to perform such operations, is that the robot can follow a predefined path fast and accurately. In this paper we present an algorithm to learn the path-following behavior for a set of motion… (More)