Ingrid Schjølberg

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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)
— 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)