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- Erjen Lefeber, Kristin Ytterstad Pettersen, Henk Nijmeijer
- IEEE Trans. Contr. Sys. Techn.
- 2003

In this paper, we address the tracking problem for an underactuated ship using two controls, namely surge force and yaw moment. A simple state-feedback control law is developed and proved to render the tracking error dynamics globally -exponentially stable. Experimental results are presented where the controller is implemented on a scale model of an… (More)

- Frédéric Mazenc, Kristin Ytterstad Pettersen, Henk Nijmeijer
- IEEE Trans. Automat. Contr.
- 2002

Explicit formulas of smooth time-varying state feedbacks, which make the origin of an underactuated surface vessel globally uniformly asymptotically stable, are proposed. The construction of the feedback extensively relies on the backstepping approach. The feedbacks constructed are time-periodic functions.

- K Y Pettersen, O Egeland
- 1996

The paper shows that a large class of underactuated vehicles cannot be asymptotically stabilized by either continuous nor discontinuous state feedback. Furthermore , stabilization of an underactuated surface vessel is considered. Controllability properties of the surface vessel is presented, and a continuous periodic time-varying feedback law is proposed.… (More)

- K Y Pettersen, H Nijmeijer
- 1998

| We consider tracking control of a surface vessel with only two control inputs. The surface vessel model has certain similarities with chained form systems , but cannot be transformed to chained form. In particular, the model has a drift vector eld as opposed to the drift-free chained form systems. It is shown, however, that methods developed for tracking… (More)

- Jon E. Refsnes, Asgeir J. Sørensen, Kristin Ytterstad Pettersen
- IEEE Trans. Contr. Sys. Techn.
- 2008

- Kristin Ytterstad Pettersen, Olav Egeland
- IEEE Trans. Automat. Contr.
- 1999

The paper considers feedback stabilization of the position and attitude of an autonomous underwater vehicle (AUV) with a reduced number of actuators. A nonlinear model describing both the dynamics and the kinematics of an AUV is studied. The paper shows that previous results on attitude stabilization of a spacecraft can be applied to exponentially stabilize… (More)

- Anne Karin Bondhus, Kristin Y. Pettersen, Tommy Gravdahl
- 2005

In this paper we propose a Leader/Follower output feedback synchronization scheme for control of the attitude of two satellites when angular velocity measurements are not available. Nonlinear observers are used to estimate the angular velocities. The attitudes of the satellites are represented by unit quaternions, and the control design is based on… (More)

- E. Fredriksen, Kristin Ytterstad Pettersen
- Automatica
- 2006

- Even Børhaug, Alexey V. Pavlov, Elena Panteley, Kristin Ytterstad Pettersen
- IEEE Trans. Contr. Sys. Techn.
- 2011

- Eleni Kelasidi, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl, Pål Liljebäck
- 2014 IEEE International Conference on Robotics…
- 2014

Increasing efficiency by improving the locomotion methods is a key issue for underwater robots. Hence, an accurate dynamic model is important for both controller design and efficient locomotion methods. This paper presents a model of the kinematics and dynamics of a planar, underwater snake robot aimed at control design. Fluid contact forces and torques are… (More)