Jan Tommy Gravdahl
About
see also my other official webpage
Tommy Gravdahl is professor at the Norwegian University of Science and Technology (NTNU). He was born in 1969 and graduated siv.ing (1994) and dr.ing (1998) in Engineering Cybernetics, NTNU. From 1998 to 2001 he was a postdoctoral researcher with the Department of Engineering Cybernetics. He was appointed Associate Professor (2001) and Professor (2005) at the same department, where he served as deputy department head 2006-07 and department head in 2008/09. In 2007/08 he was with The Centre for Complex Dynamic Systems and Control (CDSC), The University of Newcastle, Australia. His current research interests include mathematical modeling and nonlinear control in general and with application to turbomachinery, spacecraft, robots, ships and nanopositioning devices. He has supervised the graduation of 78 MSc and 10 PhD. He has published more than 150 papers at conferences and in international journals and in 2000 he received theIEEE Transactions on Control Systems Technology Outstanding Paper Award. He is author of Compressor Surge and Rotating Stall: Modeling and Control (Springer 1999), co-author of Modeling and Simulation for Automatic Control (Marine Cybernetics 2002), Snake Robots: Modeling, Mechatronics, and Control (Springer 2013), Vehicle-Manipulator Systems: Modeling for Simulation, Analysis and Control (Springer 2014) and co-editor of Group Coordination and Cooperative Control (Springer 2006).
Competencies
Publications
2026
-
Lysø, Mads Erlend Bøe;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Orucevic, Amer.
(2026)
Energy Harvesting and Phase-Invariant Locomotion Control for Underwater Snake Robots.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Nguyen, Kenny Hoang;
Caharija, Walter;
Ohrem, Sveinung Johan;
Gravdahl, Jan Tommy;
Loría, Antonio;
Amundsen, Herman Biørn.
(2026)
Robust Control of Autonomous Remotely Operated Vehicles at Exposed Aquaculture Sites.
IEEE Transactions on Control Systems Technology
Academic article
2025
-
Dyrhaug, Jan Inge;
Schmidt-Didlaukies, Henrik;
Pettersen, Kristin Y.;
Gravdahl, Jan Tommy.
(2025)
Super-twisting impedance control of redundant robots.
Mechatronics (Oxford)
Academic article
-
Gushkov, Ivan Ivanov;
Schmidt-Didlaukies, Henrik;
Lysø, Mads Erlend Bøe;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Köhler, Matthias;
Mair, Jonas.
(2025)
Recursively Feasible MPC for Underactuated Euler-Lagrange Systems with Application to Snake Robot Locomotion.
Academic chapter
-
Gushkov, Ivan Ivanov;
Hoff, Simon Andreas Hagen;
Orucevic, Amer;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2025)
Sparse Reconstruction of Forces, Torques, and Velocity Signals for a Swimmer in a Wake.
Academic chapter
-
Hansen, Harald Minde;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Castro, Mario Di.
(2025)
Trajectory Tracking Control of a Tendon-Actuated Manipulator with Rolling Joints.
IFAC-PapersOnLine
Academic article
-
Hua, Minh Tuan;
Gravdahl, Jan Tommy;
Sanfilippo, Filippo.
(2025)
Adaptive Cartesian Position Control with a Switching Strategy for Robotic Manipulator with Mixed Rigid-Elastic Joints.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Academic article
-
Wrzos-Kaminska, Marianna;
Dyrhaug, Jan Inge;
Sæbø, Bjørn Kåre;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2025)
Exponentially Stable Robust Hierarchical Tracking Control for Vehicle-Manipulator Systems.
IEEE Conference on Control Technology and Applications (CCTA)
Academic article
-
Wrzos-Kaminska, Marianna;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2025)
Nonlinear Control of Articulated Intervention-AUVs and Underwater Snake Robots.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Hua, Minh Tuan;
Gravdahl, Jan Tommy;
Sanfilippo, Filippo.
(2025)
Impedance Control for Robots with Mixed Rigid-Elastic Joints Using Sliding Mode Control.
Academic chapter
-
Tveter, Erling;
Sæbø, Bjørn Kåre;
Ott, Christian;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2025)
Passive Multi-Task Compliance Control With Strict Priority Through Energy Tanks.
IEEE Robotics and Automation Letters
Academic article
-
Foseid, Eirik Lothe;
Schmidt-Didlaukies, Henrik;
Basso, Erlend Andreas;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2025)
Line-of-Sight Guidance: Learning to Look Ahead in Three Dimensions.
IEEE Control Systems Letters
Academic article
2024
-
Kristiansen, Bjørn Andreas;
Gravdahl, Jan Tommy;
Gros, Sebastien Nicolas;
Johansen, Tor Arne.
(2024)
Energy Optimal Attitude Control and Task Execution for a Solar-Powered Spacecraft.
IEEE Transactions on Control Systems Technology
Academic article
-
Foseid, Eirik Lothe;
Basso, Erlend Andreas;
Schmidt-Didlaukies, Henrik;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Line-of-Sight Guidance: Learning to Look Ahead.
IEEE Journal of Oceanic Engineering
Academic article
-
Lysø, Mads Erlend Bøe;
Panteley, Elena;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Orbital Control for Swimming in Underwater Snake Robots using
Energy-Shaping and Consensus Control.
Academic chapter
-
Foseid, Eirik Lothe;
Basso, Erlend Andreas;
Schmidt-Didlaukies, Henrik;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Model Predictive Task-Priority Control using Control Lyapunov Functions.
Academic chapter
-
Dyrhaug, Jan Inge;
Foseid, Eirik Lothe;
Schmidt-Didlaukies, Henrik;
Basso, Erlend Andreas;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Super-Twisting Impedance Control for Robust and Compliant Interaction using a Redundant Robot Manipulator.
IFAC-PapersOnLine
Academic article
-
Orucevic, Amer;
Foseid, Eirik Lothe;
Lysø, Mads Erlend Bøe;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Nonlinear model predictive control for sinusoidal gait tracking for an underwater snake robot.
IFAC-PapersOnLine
Academic article
-
Dyrhaug, Jan Inge;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Robust Interaction using Generalized Super-Twisting Impedance Control.
IFAC-PapersOnLine
Academic article
-
Sæbø, Bjørn Kåre;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2024)
Kinematic Task-Priority Path Following for Articulated Marine Vehicles.
IFAC-PapersOnLine
Academic article
-
Tveter, Erling;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Power-Based Safety Constraint for Redundant Robotic Manipulators.
IFAC-PapersOnLine
Academic article
-
Lysø, Mads Erlend Bøe;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Energy-Shaping Control for Swimming in Underwater Snake Robots.
IFAC-PapersOnLine
Academic article
-
Sadanandan Anand, Akhil;
Kaushik, Rituraj;
Gravdahl, Jan Tommy;
Abu-Dakka, Fares J..
(2024)
Data-Efficient Reinforcement Learning for Variable Impedance Control.
IEEE Access
Academic article
-
Orucevic, Amer;
Wrzos-Kaminska, Marianna;
Lysø, Mads Erlend Bøe;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Automatic alignment of underwater snake robots operating in wakes of bluff bodies.
Control Engineering Practice
Academic article
-
Iversflaten, Markus Høgevoll;
Schmidt-Didlaukies, Henrik;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2024)
Centralized Underwater Cooperative Transport with Safety Constraints.
IFAC-PapersOnLine
Academic article
-
Wrzos-Kaminska, Marianna;
Sæbø, Bjørn Kåre;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Unifying the Generalized Jacobian Matrix and prioritized task hierarchies, with application to free-floating VMSs.
IFAC-PapersOnLine
Academic article
-
Gushkov, Ivan Ivanov;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
MPC Path Following with Macroscopic Shape Adjustment for AIAUVs.
IFAC-PapersOnLine
Academic article
-
D'Antuono, Gianluca;
Pettersen, Kristin Ytterstad;
Buonocore, Luca Rosario;
Gravdahl, Jan Tommy;
Castro, Mario Di.
(2024)
Path Following Control of a Tendon-Actuated Snake Robot with Rolling Joints.
Academic chapter
-
Onstein, Ingrid Fjordheim;
Linnerud, Ådne Solhaug;
Martinsen, Kristian;
Gravdahl, Jan Tommy.
(2024)
Adaptive Tool Trajectory Generation for Robotic Deburring using Structured Light 3D Camera sensor.
Procedia CIRP
Academic article
-
Foseid, Eirik Lothe;
Basso, Erlend Andreas;
Schmidt-Didlaukies, Henrik;
Marley, Mathias Huuse;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Learning Optimal Guidance Schemes with Safety Guarantees for Underactuated Marine Vehicles.
IFAC-PapersOnLine
Academic article
-
Grøtli, Esten Ingar;
Brandt, Martin Albertsen;
Arbo, Mathias Hauan;
Onstein, Ingrid Fjordheim;
Mohammed, Ahmed Kedir;
Gravdahl, Jan Tommy.
(2024)
Sensor‑guided motions for manipulators in manufacturing.
Academic chapter
-
Evjemo, Linn Danielsen;
Hassel, Trond Arne;
Njaastad, Eirik B;
Adel, Salar;
Onstein, Ingrid Fjordheim;
Arbo, Mathias Hauan;
Brøtan, Vegard;
Cibicik, Andrej;
Gravdahl, Jan Tommy.
(2024)
Possibilities and challenges of using robot manipulators in additive manufacturing (AM).
Academic chapter
-
Langer, Dennis David;
Garrett, Joseph Landon;
Kristiansen, Bjørn Andreas;
Bakken, Sivert;
Berg, Simen;
Birkeland, Roger;
Gravdahl, Jan Tommy;
Johansen, Tor Arne;
Sørensen, Asgeir Johan.
(2024)
Agile Maneuvers for Push-Broom Imaging Satellites.
IEEE Transactions on Geoscience and Remote Sensing
Academic article
2023
-
Robinson, Haakon;
Lundby, Erlend Torje Berg;
Rasheed, Adil;
Gravdahl, Jan Tommy.
(2023)
Deep learning assisted physics-based modeling of aluminum extraction process.
Engineering Applications of Artificial Intelligence
Academic article
-
Lundby, Erlend Torje Berg;
Robinson, Haakon;
Rasheed, Adil;
Halvorsen, Ivar Johan;
Gravdahl, Jan Tommy.
(2023)
Sparse Neural Networks with Skip-Connections for Identification of Aluminum Electrolysis Cell.
IEEE Conference on Decision and Control. Proceedings
Academic article
-
Kristiansen, Bjørn Andreas;
Gravdahl, Jan Tommy.
(2023)
Maximum Hands-Off Attitude Control of a Spacecraft Actuated by Thrusters.
IFAC-PapersOnLine
Academic article
-
Kristiansen, Bjørn Andreas;
Gravdahl, Jan Tommy;
Gros, Sebastien Nicolas;
Johansen, Tor Arne.
(2023)
Energy optimal attitude control of a satellite actuated by magnetorquers in minimum time.
IEEE Conference on Control Technology and Applications (CCTA)
Academic article
-
Nicolai, Tim;
Haring, Mark;
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy;
Reger, Johann.
(2023)
Realizing LTI models by identifying characteristic parameters using least squares optimization.
Academic chapter
-
Grøtte, Mariusz Eivind;
Gravdahl, Jan Tommy;
Johansen, Tor Arne.
(2023)
A Constrained Control Allocation and Tuning Scheme for Hybrid Actuators in Spacecraft Attitude Control.
IFAC-PapersOnLine
Academic article
-
Kristiansen, Raymond;
Ørke, Henning Levik;
Gravdahl, Jan Tommy.
(2023)
Modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels.
Simulation modelling practice and theory
Academic article
-
Iversflaten, Markus Høgevoll;
Sæbø, Bjørn Kåre;
Basso, Erlend Andreas;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2023)
Task-Priority Operational Space Control for Vehicle-Manipulator Systems with Modelling Errors.
IFAC-PapersOnLine
Academic article
-
Sadanandan Anand, Akhil;
Gravdahl, Jan Tommy;
Abu-Dakka, Fares J..
(2023)
Model-based variable impedance learning control for robotic manipulation.
Robotics and Autonomous Systems
Academic article
-
Seel, Katrine;
Gravdahl, Jan Tommy;
Gros, Sebastien Nicolas;
Grøtli, Esten Ingar;
Pettersen, Kristin Ytterstad;
Moe, Signe.
(2023)
Learning for Model Predictive Control.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Seel, Katrine;
Gros, Sebastien Nicolas;
Gravdahl, Jan Tommy.
(2023)
Combining Q-learning and Deterministic Policy Gradient for Learning-Based MPC.
IEEE Conference on Decision and Control. Proceedings
Academic article
-
Nysæther, Torje;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2023)
Hierarchical Compliance-Control-Based Docking of a UVMS.
OCEANS
Academic article
-
Seel, Katrine;
Bemporad, Alberto;
Gros, Sebastien Nicolas;
Gravdahl, Jan Tommy.
(2023)
Variance-Based Exploration for Learning Model Predictive Control.
IEEE Access
Academic article
-
Kristiansen, Bjørn Andreas;
Gravdahl, Jan Tommy;
Johansen, Tor Arne.
(2023)
Energy and time optimal spacecraft attitude control and operations.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Lundby, Erlend Torje Berg;
Rasheed, Adil;
Halvorsen, Ivar Johan;
Reinhardt, Dirk Peter;
Gros, Sebastien Nicolas;
Gravdahl, Jan Tommy.
(2023)
Deep active learning for nonlinear system identification.
arXiv.org
Academic article
-
D'Antuono, Gianluca;
Pettersen, Kristin Ytterstad;
Buonocore, Luca Rosario;
Gravdahl, Jan Tommy;
Castro, Mario Di.
(2023)
Dynamic model of a tendon-actuated snake robot using the Newton-Euler formulation.
Academic chapter
-
Lundby, Erlend Torje Berg;
Rasheed, Adil;
Gravdahl, Jan Tommy;
Halvorsen, Ivar Johan.
(2023)
Sparse deep neural networks for modeling aluminum electrolysis dynamics.
Applied Soft Computing
Academic article
-
Haugaløkken, Bent Oddvar Arnesen;
Amundsen, Herman Biørn;
Fadum, Håkon Syverud;
Gravdahl, Jan Tommy;
Ohrem, Sveinung Johan.
(2023)
Adaptive Generalized Super-Twisting Tracking Control of an Underwater Vehicle.
Academic chapter
-
Haugstvedt, Emil Johannesen;
Mino Calero, Alberto;
Lundby, Erlend Torje Berg;
Rasheed, Adil;
Gravdahl, Jan Tommy.
(2023)
A Comparative Study of Sparsity Promoting Techniques in Neural Network for Modeling Non-Linear Dynamics.
IEEE Access
Academic article
-
Orucevic, Amer;
Lysø, Mads Erlend Bøe;
Schmidt-Didlaukies, Henrik;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2023)
Optimal Positioning of Snake Robots in Vortex Wakes using Extremum-Seeking Control.
IFAC-PapersOnLine
Academic article
-
Dyrhaug, Jan Inge;
Tveter, Erling;
Schmidt-Didlaukies, Henrik;
Basso, Erlend Andreas;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2023)
Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems.
IFAC-PapersOnLine
Academic article
-
Orucevic, Amer;
Wrzos-Kaminska, Marianna;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2023)
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots.
IEEE Transactions on Control Systems Technology
Academic article
-
Gushkov, Ivan Ivanov;
Orucevic, Amer;
Pettersen, Kristin Ytterstad;
Yao, Weijia;
Gravdahl, Jan Tommy.
(2023)
Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots.
Academic chapter
-
Kristiansen, Bjørn Andreas;
Langer, Dennis David;
Garrett, Joseph Landon;
Berg, Simen;
Gravdahl, Jan Tommy;
Johansen, Tor Arne.
(2023)
Accuracy of a slew maneuver for the HYPSO-1 hyperspectral imaging satellite — in-orbit results.
Workshop on Hyperspectral Image and Signal Processing, Evolution in Remote Sensing
Academic article
-
Golfetto, Cristiana;
Østvik, Andreas;
Brandt, Martin Albertsen;
Perez de Frutos, Javier;
Bø, Lars Eirik;
Grøtli, Esten Ingar;
Vagia, Marialena;
Ening, Klaus;
Tangen, Geir Arne;
Gravdahl, Jan Tommy.
(2023)
Roboter kan bidra til å avlaste et overbelastet helsevesen.
Forskersonen.no
Popular science article
-
Basso, Erlend Andreas;
Schmidt-Didlaukies, Henrik;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2023)
Synergistic PID and Output Feedback Control on Matrix Lie Groups.
IFAC-PapersOnLine
Academic article
-
Sadanandan Anand, Akhil;
Reinhardt, Dirk Peter;
Sawant, Shambhuraj Vijaysinh;
Gravdahl, Jan Tommy;
Gros, Sebastien Nicolas.
(2023)
A Painless Deterministic Policy Gradient Method for Learning-based MPC.
Academic chapter
2022
-
Seel, Katrine;
Bahari Kordabad, Arash;
Gros, Sebastien;
Gravdahl, Jan Tommy.
(2022)
Convex Neural Network-Based Cost Modifications for Learning Model Predictive Control.
IEEE Open Journal of Control Systems
Academic article
-
Orucevic, Amer;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad;
Chaillet, Antoine.
(2022)
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots.
Academic chapter
-
Sæbø, Bjørn Kåre;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2022)
Robust Task-Priority Impedance Control for Vehicle-Manipulator Systems.
Academic chapter
-
Borlaug, Ida-Louise Garmann;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2022)
The generalized super-twisting algorithm with adaptive gains.
International Journal of Robust and Nonlinear Control
Academic article
-
Schaanning, Sigrid Kjønnø;
Kristiansen, Bjørn Andreas;
Gravdahl, Jan Tommy.
(2022)
Maximum Hands-Off Attitude Control.
American Control Conference (ACC)
Academic article
-
Evjemo, Linn Danielsen;
Langelandsvik, Geir;
Moe, Signe;
Danielsen, Morten Høgseth;
Gravdahl, Jan Tommy.
(2022)
Wire-arc additive manufacturing of structures with overhang: Experimental results depositing material onto fixed substrate.
CIRP - Journal of Manufacturing Science and Technology
Academic article
-
Sadanandan Anand, Akhil;
Myrestrand, Martin Hagen;
Gravdahl, Jan Tommy.
(2022)
Evaluation of Variable Impedance-and Hybrid Force/MotionControllers for Learning Force Tracking Skills.
Academic chapter
-
Ragazzon, Michael Remo Palmén;
Messineo, Saverio;
Gravdahl, Jan Tommy;
Harcombe, David M.;
Ruppert, Michael G..
(2022)
The Generalized Lyapunov Demodulator: High-Bandwidth, Low-Noise Amplitude and Phase Estimation.
IEEE Open Journal of Control Systems
Academic article
2021
-
Onstein, Ingrid Fjordheim;
Evjemo, Linn Danielsen;
Gravdahl, Jan Tommy.
(2021)
Additive Manufacturing Path Generation for Robot Manipulators Based on CAD Models.
IFAC-PapersOnLine
Academic article
-
Arbo, Mathias Hauan;
Eriksen, Ivar;
Sanfilippo, Filippo;
Gravdahl, Jan Tommy.
(2021)
Comparison of KVP and RSI for Controlling KUKA Robots Over ROS.
IFAC-PapersOnLine
Academic article
-
Evjemo, Linn Danielsen;
Moe, Signe;
Gravdahl, Jan Tommy.
(2021)
Robotised Wire Arc Additive Manufacturing Using Set-based Control: Experimental Results.
IFAC-PapersOnLine
Academic article
-
Kristiansen, Bjørn Andreas;
Grøtte, Mariusz Eivind;
Gravdahl, Jan Tommy.
(2021)
Quaternion-Based Generalized Super-Twisting Algorithm for Spacecraft Attitude Control.
IFAC-PapersOnLine
Academic article
-
Moltumyr, Andreas Hanssen;
Ragazzon, Michael Remo Palmén;
Gravdahl, Jan Tommy.
(2021)
Fractional-order Control: Nyquist Constrained Optimization.
IFAC-PapersOnLine
Academic article
-
Grøtte, Mariusz Eivind;
Gravdahl, Jan Tommy;
Johansen, Tor Arne;
Larsen, Jesper A;
Vidal, Edgar M;
Surma, Egidijus.
(2021)
Spacecraft Attitude and Angular Rate Tracking using Reaction Wheels and Magnetorquers.
IFAC-PapersOnLine
Academic article
-
Seel, Katrine;
Haring, Mark A. M.;
Grøtli, Esten Ingar;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2021)
Learning-based Robust Model Predictive Control for Sector-bounded Lur'e Systems.
IFAC-PapersOnLine
Academic article
-
Seel, Katrine;
Grøtli, Esten Ingar;
Moe, Signe;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2021)
Neural Network-based Model Predictive Control with Input-to-State Stability.
American Control Conference (ACC)
Academic article
-
Grøtte, Mariusz Eivind;
Birkeland, Roger;
Honoré-Livermore, Evelyn;
Bakken, Sivert;
Garrett, Joseph;
Prentice, Elizabeth Frances;
Sigernes, Fred;
Orlandic, Milica;
Gravdahl, Jan Tommy;
Johansen, Tor Arne.
(2021)
Ocean Color Hyperspectral Remote Sensing With High Resolution and Low Latency--The HYPSO-1 CubeSat Mission.
IEEE Transactions on Geoscience and Remote Sensing
Academic article
-
Messineo, Saverio;
Ragazzon, Michael Remo Palmén;
Busnelli, Fabio;
Gravdahl, Jan Tommy.
(2021)
Analysis of PI-Control for Atomic Force Microscopy in Contact Mode.
IEEE Transactions on Control Systems Technology
Academic article
-
Borlaug, Ida-Louise Garmann;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2021)
Comparison of two second-order sliding mode control algorithms for an articulated intervention AUV: Theory and experimental results.
Ocean Engineering
Academic article
-
Kristiansen, Bjørn Andreas;
Gravdahl, Jan Tommy;
Johansen, Tor Arne.
(2021)
Energy optimal attitude control for a solar-powered spacecraft.
European Journal of Control
Academic article
-
Moltumyr, Andreas Hanssen;
Arbo, Mathias Hauan;
Gravdahl, Jan Tommy.
(2021)
Output Maneuvering for Cartesian 3D Printer.
Academic chapter
-
Frida, Viset;
Gravdahl, Jan Tommy;
Kok, Manon.
(2021)
Magnetic field norm SLAM using Gaussian process regression in
foot-mounted sensors.
Academic chapter
-
Sterud, Camilla;
Moe, Signe;
Gravdahl, Jan Tommy.
(2021)
Stable and robust neural network controllers.
Academic chapter
-
Sadanandan Anand, Akhil;
Østvik, Andreas;
Grøtli, Esten Ingar;
Vagia, Marialena;
Gravdahl, Jan Tommy.
(2021)
Real-time temporal adaptation of dynamic movement primitives for moving targets.
Academic chapter
-
Lundby, Erlend Torje Berg;
Rasheed, Adil;
Gravdahl, Jan Tommy;
Halvorsen, Ivar Johan.
(2021)
A novel hybrid analysis and modeling approach applied to aluminum electrolysis process.
Journal of Process Control
Academic article
-
Olsen, Jørgen Anker;
Grøtte, Mariusz Eivind Santora;
Gravdahl, Jan Tommy.
(2021)
Attitude determination and control system testbed for hardware and software testing and validation for HYPSO small satellites.
Academic chapter
2020
-
Moe, Signe;
Remonato, Filippo;
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2020)
Linear Antisymmetric Recurrent Neural Networks.
Proceedings of Machine Learning Research (PMLR)
Academic article
-
Wrzos-Kaminska, Marianna;
Mylvaganam, Thulasi;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2020)
Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV.
Academic chapter
-
Moe, Signe;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2020)
Set-based collision avoidance applications to robotic systems.
Mechatronics (Oxford)
Academic article
-
Neverlien, Åse Victoria;
Moe, Signe;
Gravdahl, Jan Tommy.
(2020)
Compressor Surge Control Using Lyapunov Neural Networks.
MIC Journal: Modeling, Identification and Control
Academic article
-
Borlaug, Ida-Louise Garmann;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2020)
The generalized super-twisting algorithm with adaptive gains.
Academic chapter
-
Borlaug, Ida-Louise Garmann;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2020)
Combined Kinematic and Dynamic Control of Vehicle-Manipulator Systems.
Mechatronics (Oxford)
Academic article
-
Borlaug, Ida-Louise Garmann;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2020)
Tracking control of an articulated intervention autonomous underwater vehicle in 6DOF using generalized super-twisting: Theory and experiments.
IEEE Transactions on Control Systems Technology
Academic article
-
Backi, Christoph Josef;
Gravdahl, Jan Tommy;
Skogestad, Sigurd.
(2020)
Combined state and parameter estimation for not fully observable dynamic systems.
IFAC Journal of Systems and Control
Academic article
-
Moltumyr, Andreas Hanssen;
Arbo, Mathias Hauan;
Gravdahl, Jan Tommy.
(2020)
Towards Vision-based Closed-loop Additive Manufacturing: A Review.
Academic chapter
2019
-
Caharija, Walter;
Sørensen, Asgeir Johan;
Pettersen, Kristin Ytterstad;
Greco, Marilena;
Gravdahl, Jan Tommy.
(2019)
Path Following Control of Underactuated Surface Vessels in the Presence of Multiple Disturbances.
Academic chapter
-
Wrzos-Kaminska, Marianna;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2019)
Path following control for articulated intervention-AUVs using geometric control of reduced attitude.
IFAC-PapersOnLine
Academic article
-
Kelasidi, Eleni;
Moe, Signe;
Pettersen, Kristin Ytterstad;
Kohl, Anna M;
Liljebäck, Pål;
Gravdahl, Jan Tommy.
(2019)
Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots.
Frontiers in Robotics and AI
Academic article
-
Hassani, Vahid;
Fjellvang, Snorre Ludvig;
Auestad, Øyvind Fidje;
Gravdahl, Jan Tommy.
(2019)
Adaptive Boarding Control System in Surface Effect Ships.
Academic chapter
-
Evjemo, Linn Danielsen;
Langelandsvik, Geir;
Gravdahl, Jan Tommy.
(2019)
Wire arc additive manufacturing by robot manipulator: Towards creating complex geometries.
IFAC-PapersOnLine
Academic article
-
Astad, Morten Andre;
Arbo, Mathias Hauan;
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2019)
Vive for Robotics: Rapid Robot Cell Calibration.
Academic chapter
-
Ragazzon, Michael Remo Palmén;
Messineo, Saverio;
Gravdahl, Jan Tommy;
Harcombe, David M.;
Ruppert, Michael G..
(2019)
Generalized Lyapunov Demodulator for Amplitude and Phase Estimation by the Internal Model Principle.
IFAC-PapersOnLine
Academic article
-
Johannessen, Lill Maria Gjerde;
Arbo, Mathias Hauan;
Gravdahl, Jan Tommy.
(2019)
Robot Dynamics with URDF & CasADi.
Academic chapter
-
Borlaug, Ida-Louise Garmann;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2019)
Tracking control of an articulated intervention AUV in 6DOF using the generalized super-twisting algorithm.
American Control Conference (ACC)
Academic article
-
Borlaug, Ida-Louise Garmann;
Sverdrup-Thygeson, Jørgen;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2019)
Combined kinematic and dynamic control of an underwater swimming manipulator.
IFAC-PapersOnLine
Academic article
-
Moltumyr, Andreas Hanssen;
Gravdahl, Jan Tommy;
Ragazzon, Michael Remo Palmén.
(2019)
Control in Atomic Force Microscopy: A Fractional Order Approach.
Norges teknisk-naturvitenskapelige universitet
Master thesis
2018
-
Borlaug, Ida-Louise Garmann;
Gravdahl, Jan Tommy;
Sverdrup-Thygeson, Jørgen;
Pettersen, Kristin Ytterstad;
Loria, Antonio.
(2018)
Trajectory tracking for underwater swimming manipulators using a super twisting algorithm.
Asian journal of control
Academic article
-
Kelasidi, Eleni;
Kohl, Anna M;
Pettersen, Kristin Ytterstad;
Hoffmann, Bjørn Håvard;
Gravdahl, Jan Tommy.
(2018)
Experimental investigation of locomotion efficiency and path-following for underwater snake robots with and without a caudal fin.
Annual Reviews in Control
Academic article
-
Oland, Espen;
Kristiansen, Raymond;
Gravdahl, Jan Tommy.
(2018)
A comparative study of different control structures for flight control with new results.
IEEE Transactions on Control Systems Technology
Academic article
-
Borlaug, Ida-Louise Garmann;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2018)
Trajectory tracking for an articulated intervention AUV using a super-twisting algorithm in 6 DOF.
IFAC-PapersOnLine
Academic article
-
Ragazzon, Michael Remo Palmén;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2018)
Model-Based Identification of Nanomechanical Properties in Atomic Force Microscopy: Theory and Experiments.
IEEE Transactions on Control Systems Technology
Academic article
-
Utstumo, Trygve;
Urdal, Frode;
Brevik, Anders;
Dørum, Jarle;
Netland, Jan;
Overskeid, Øyvind;
Berge, Therese W.;
Gravdahl, Jan Tommy.
(2018)
Robotic in-row weed control in vegetables.
Computers and Electronics in Agriculture
Academic article
-
Moe, Signe;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2018)
Set-Based Control for Autonomous Spray Painting.
IEEE Transactions on Automation Science and Engineering
Academic article
-
Arbo, Mathias Hauan;
Gravdahl, Jan Tommy.
(2018)
Stability of the Tracking Problem with Task-Priority Inverse Kinematics.
IFAC-PapersOnLine
Academic article
-
Tønnessen, Jonas;
Bryn, Håkon;
Gravdahl, Jan Tommy;
Hassani, Vahid;
Auestad, Øyvind Fidje.
(2018)
Roll damping of a surface effect ship with split air cushion.
IFAC-PapersOnLine
Academic article
-
Sverdrup-Thygeson, Jørgen;
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2018)
The underwater swimming manipulator — A bioinspired solution for subsea operations.
IEEE Journal of Oceanic Engineering
Academic article
-
Ragazzon, Michael Remo Palmén;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2018)
Parameter Estimation in Atomic Force Microscopy: Nanomechanical Properties and High-speed Demodulation.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Kelasidi, Eleni;
Jesmani, Mansoureh;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2018)
Locomotion efficiency optimization of biologically inspired snake robots.
Applied Sciences
Academic article
-
Backi, Christoph Josef;
Gravdahl, Jan Tommy;
Skogestad, Sigurd.
(2018)
Simple method for parameter identification of a nonlinear Greitzer compressor model.
IFAC-PapersOnLine
Academic article
2017
-
Arbo, Mathias Hauan;
Utstumo, Trygve;
Brekke, Edmund Førland;
Gravdahl, Jan Tommy.
(2017)
Unscented Multi-Point Smoother for Fusion of Delayed Displacement Measurements: Application to Agricultural Robots.
MIC Journal: Modeling, Identification and Control
Academic article
-
Kohl, Anna M;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2017)
Velocity and orientation control of underwater snake robots using absolute velocity feedback.
Academic chapter
-
Kohl, Anna M;
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2017)
Model-based LOS path-following control of planar underwater snake robots.
Lecture notes in control and information sciences
Academic article
-
Gale, Serge;
Rahmati, Hodjatolah;
Gravdahl, Jan Tommy;
Martens, Harald.
(2017)
Improvement of a Robotic Manipulator Model Based on Multivariate Residual Modeling.
Frontiers in Robotics and AI
Academic article
-
Ragazzon, Michael Remo Palmén;
Ruppert, Michael G.;
Harcombe, David M.;
Fleming, Andrew J.;
Gravdahl, Jan Tommy.
(2017)
Lyapunov Estimator for High-Speed Demodulation in Dynamic Mode Atomic Force Microscopy.
IEEE Transactions on Control Systems Technology
Academic article
-
Evjemo, Linn Danielsen;
Moe, Signe;
Gravdahl, Jan Tommy;
Roulet-Dubonnet, Olivier;
Gellein, Lars Tore;
Brøtan, Vegard.
(2017)
Additive manufacturing by robot manipulator: An overview of the state-of-the-art and proof-of-concept results.
Academic chapter
-
Ragazzon, Michael Remo Palmén;
Gravdahl, Jan Tommy;
Vagia, Marialena.
(2017)
Viscoelastic properties of cells: Modeling and identification by atomic force microscopy.
Mechatronics (Oxford)
Academic article
-
Ragazzon, Michael Remo Palmén;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2017)
Exponential Convergence Bounds in Least Squares Estimation: Identification of Viscoelastic Properties in Atomic Force Microscopy.
IEEE Control Systems
Academic article
-
Kelasidi, Eleni;
Liljebäck, Pål;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2017)
Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments.
IEEE Transactions on Robotics
Academic article
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Strømsøyen, Simen;
Sørensen, Asgeir Johan.
(2017)
Modeling and Propulsion Methods of Underwater Snake Robots.
Academic chapter
-
Kohl, Anna M;
Moe, Signe;
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2017)
Set-based path following and obstacle avoidance for underwater snake robots.
Academic chapter
-
Arbo, Mathias Hauan;
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2017)
On model predictive path following and trajectory tracking for industrial robots.
IEEE International Conference on Automation Science and Engineering
Academic article
-
Tuffaha, Mutaz;
Gravdahl, Jan Tommy.
(2017)
Discrete state-space model to solve the unit commitment and economic dispatch problems.
Energy Systems, Springer Verlag
Academic article
-
Arbo, Mathias Hauan;
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2017)
On the globally exponentially convergent immersion and invariance speed observer for mechanical systems.
American Control Conference (ACC)
Academic article
-
Uddin, Nur;
Gravdahl, Jan Tommy.
(2017)
Compressor Surge Control Design Using Linear Matrix Inequality Approach.
Academic chapter
-
Arbo, Mathias Hauan;
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2017)
Mid-Level MPC and 6 DOF Output Path Following for Robotic Manipulators.
IEEE Control Systems
Academic article
-
Sverdrup-Thygeson, Jørgen;
Moe, Signe;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2017)
Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks.
Academic chapter
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Kohl, Anna M;
Gravdahl, Jan Tommy.
(2017)
An Experimental Investigation of Path Following for an Underwater Snake Robot with a Caudal Fin.
IFAC-PapersOnLine
Academic article
2016
-
Backi, Christoph Josef;
Gravdahl, Jan Tommy;
Skogestad, Sigurd.
(2016)
Robust control of a two-state Greitzer compressor model by state-feedback linearization.
Proceedings of the IEEE Conference on Control Applications
Academic article
-
Uddin, Nur;
Gravdahl, Jan Tommy.
(2016)
Active Compressor Surge Control System by Using Piston Actuation: Implementation and Experimental Results.
IFAC-PapersOnLine
Academic article
-
Kelasidi, Eleni;
Jesmani, Mansoureh;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2016)
Multi-objective optimization for efficient motion of underwater snake robots.
Artificial Life and Robotics
Academic article
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Liljebäck, Pål;
Gravdahl, Jan Tommy.
(2016)
Locomotion Efficiency of Underwater Snake Robots with Thrusters.
Academic chapter
-
Kelasidi, Eleni;
Kohl, Anna Magdalena;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2016)
Waypoint guidance control for underwater snake robots exposed to ocean currents.
Academic chapter
-
Guttormsen, Erik;
Toldnes, Bendik;
Bondø, Morten Steen;
Eilertsen, Aleksander;
Gravdahl, Jan Tommy;
Mathiassen, John Reidar Bartle.
(2016)
A Machine Vision System for Robust Sorting of Herring Fractions.
Food and Bioprocess Technology
Academic article
-
Ragazzon, Michael Remo Palmén;
Gravdahl, Jan Tommy;
Fleming, Andrew J..
(2016)
On Amplitude Estimation for High-Speed Atomic Force Microscopy.
American Control Conference (ACC)
Academic article
-
Grøtli, Esten Ingar;
Panteley, Elena;
Chaillet, Antoine;
Gravdahl, Jan Tommy.
(2016)
Robustness of ISS systems to inputs with limited moving average: Application to spacecraft formations.
International Journal of Robust and Nonlinear Control
Academic article
-
Uddin, Nur;
Gravdahl, Jan Tommy.
(2016)
Two General State Feedback Control Laws for Compressor Surge Stabilization.
Mediterranean Conference on Control and Automation (MED)
Academic article
-
Caharija, Walter;
Pettersen, Kristin Ytterstad;
Bibuli, Marco;
Calado, Pável;
Zereik, Enrica;
Braga, Jose;
Gravdahl, Jan Tommy;
Sørensen, Asgeir Johan;
Milovanovic, Milan;
Bruzzone, Gabriele.
(2016)
Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations and Experiments.
IEEE Transactions on Control Systems Technology
Academic article
-
Kelasidi, Eleni;
Liljebäck, Pål;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2016)
Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots.
IEEE robotics & automation magazine
Academic article
-
Rezapour, Ehsan;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Hofmann, Andreas.
(2016)
Formation Control of Underactuated Bio-inspired Snake Robots.
Artificial Life and Robotics
Academic article
-
Sverdrup-Thygeson, Jørgen;
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2016)
The Underwater Swimming Manipulator - A Bio-Inspired AUV.
Academic chapter
-
Vagia, Marialena;
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2016)
Nonlinear Tracking Control Scheme for a Nanopositioner.
Mediterranean Conference on Control and Automation (MED)
Academic article
-
Ragazzon, Michael Remo Palmén;
Gravdahl, Jan Tommy.
(2016)
Imaging Topography and Viscoelastic Properties by Constant Depth Atomic Force Microscopy.
Proceedings of the IEEE Conference on Control Applications
Academic article
-
Ragazzon, Michael Remo Palmén;
Vagia, Marialena;
Gravdahl, Jan Tommy.
(2016)
Cell Mechanics Modeling and Identification by Atomic Force Microscopy.
IFAC-PapersOnLine
Academic article
-
Sverdrup-Thygeson, Jørgen;
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2016)
A control framework for biologically inspired underwater swimming manipulators equipped with thrusters.
IFAC-PapersOnLine
Academic article
-
Teo, Yik R.;
Fleming, Andrew J.;
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy.
(2016)
A Simplified Method for Discrete-Time Repetitive Control Using Model-Less Finite Impulse Response Filter Inversion.
Journal of Dynamic Systems Measurement, and Control
Academic article
-
Sverdrup-Thygeson, Jørgen;
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2016)
Modeling of underwater swimming manipulators.
IFAC-PapersOnLine
Academic article
-
Backi, Christoph Josef;
Bendtsen, Jan Dimon;
Leth, John;
Gravdahl, Jan Tommy.
(2016)
A heat equation for freezing processes with phase change: stability analysis and applications.
International Journal of Control
Academic article
-
Kohl, Anna;
Pettersen, Kristin Ytterstad;
Kelasidi, Eleni;
Gravdahl, Jan Tommy.
(2016)
Planar path following of underwater snake robots in the presence of ocean currents.
IEEE Robotics and Automation Letters
Academic article
-
Backi, Christoph Josef;
Leth, John;
Gravdahl, Jan Tommy.
(2016)
Optimal boundary control of a contact thawing process for foodstuff.
IFAC-PapersOnLine
Academic article
-
Moe, Signe;
Pettersen, Kristin Ytterstad;
Fossen, Thor I.;
Gravdahl, Jan Tommy.
(2016)
Line-of-sight curved path following for underactuated USVs and AUVs in the horizontal plane under the influence of ocean currents.
IEEE Mediterranean Conference on Control & Automation
Academic article
2015
-
Utstumo, Trygve;
Dørum, Jarle;
Gravdahl, Jan Tommy.
(2015)
Experimental comparison of adaptive controllers for trajectory tracking in agricultural robotics.
Academic chapter
-
Kohl, Anna;
Pettersen, Kristin Ytterstad;
Kelasidi, Eleni;
Gravdahl, Jan Tommy.
(2015)
Analysis of underwater snake robot locomotion based on a control-oriented model.
Academic chapter
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2015)
Energy efficiency of underwater robots.
IFAC-PapersOnLine
Academic article
-
Auestad, Øyvind Fidje;
Gravdahl, Jan Tommy;
Perez, Tristan;
Sørensen, Asgeir Johan;
Espeland, Trygve H..
(2015)
Boarding control system for improved accessibility to offshore wind turbines: Full-scale testing.
Control Engineering Practice
Academic article
-
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy;
Leang, Kam K..
(2015)
Low-order continuous-time robust repetitive control: Application in nanopositioning.
Mechatronics (Oxford)
Academic article
-
Auestad, Øyvind Fidje;
Perez, Tristan;
Gravdahl, Jan Tommy;
Sørensen, Asgeir Johan;
Espeland, Trygve H..
(2015)
Boarding Control System - for Improved Accessibility to Offshore Wind Turbines.
Academic chapter
-
Uddin, Nur;
Gravdahl, Jan Tommy.
(2015)
Bond graph modeling of centrifugal compression systems.
Simulation
Academic article
-
Utstumo, Trygve;
Dørum, Jarle;
Arbo, Mathias Hauan;
Berge, Therese W.;
Goldberg, Steve;
Overskeid, Øyvind;
Gravdahl, Jan Tommy.
(2015)
Asterix - Automatisk ugraskontroll i radkulturer.
Non-fiction chapter
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2015)
Energy efficiency of underwater snake robot locomotion.
Mediterranean Conference on Control and Automation (MED)
Academic article
-
Backi, Christoph Josef;
Gravdahl, Jan Tommy.
(2015)
Modeling, Estimation and Control of Freezing and Thawing Processes: Theory and Applications.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Ragazzon, Michael Remo Palmén;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad;
Eielsen, Arnfinn Aas.
(2015)
Topography and force imaging in atomic force microscopy by state and parameter estimation.
American Control Conference (ACC)
Academic article
-
Kohl, Anna;
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2015)
A control-oriented model of underwater snake robots exposed to currents.
Academic chapter
-
Backi, Christoph Josef;
Bendtsen, Jan Dimon;
Leth, John;
Gravdahl, Jan Tommy.
(2015)
Stability properties of a heat equation with state-dependent parameters and asymmetric boundary conditions.
IFAC-PapersOnLine
Academic article
-
Stakvik, Jon Åge;
Ragazzon, Michael Remo Palmén;
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy.
(2015)
On implementation of the Preisach model identification and inversion for hysteresis compensation.
MIC Journal: Modeling, Identification and Control
Academic article
-
Kelasidi, Eleni;
Liljebäck, Pål;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2015)
Experimental investigation of efficient locomotion of underwater snake robots for lateral undulation and eel-like motion patterns.
Robotics and Biomimetics
Academic article
-
Tuffaha, Mutaz;
Gravdahl, Jan Tommy.
(2015)
Control-oriented model of a generating set comprising a diesel engine and a synchronous generator.
MIC Journal: Modeling, Identification and Control
Academic article
-
Tuffaha, Mutaz;
Gravdahl, Jan Tommy.
(2015)
Dynamic Formulation of the Unit Commitment and Economic Dispatch problems.
Academic chapter
-
Gale, Serge;
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy.
(2015)
Modelling and simulation of a flywheel based energy storage system for an industrial manipulator.
Academic chapter
-
Utstumo, Trygve;
Berge, Therese W.;
Gravdahl, Jan Tommy.
(2015)
Non-linear model predictive control for constrained robot navigation in row crops.
Academic chapter
2014
-
Backi, Christoph Josef;
Bendtsen, Jan Dimon;
Leth, John;
Gravdahl, Jan Tommy.
(2014)
The nonlinear heat equation with state-dependent parameters and its connection to the Burgers' and the potential Burgers' equation.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Urdal, Frode;
Utstumo, Trygve;
Vatne, Jan Kåre;
Ellingsen, Simen Andreas Ådnøy;
Gravdahl, Jan Tommy.
(2014)
Design and control of precision drop-on-demand herbicide application in agricultural robotics.
Academic chapter
-
Caharija, Walter;
Pettersen, Kristin Ytterstad;
Sørensen, Asgeir Johan;
Candeloro, Mauro;
Gravdahl, Jan Tommy.
(2014)
Relative velocity control and integral line of sight for path following of autonomous surface vessels: Merging intuition with theory.
Journal of Engineering for the Maritime Environment (Part M)
Academic article
-
Liljebäck, Pål;
Stavdahl, Øyvind;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2014)
Mamba - A waterproof snake robot with tactile sensing.
Academic chapter
-
Holden, Christian;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2014)
Optimal Dynamic Force Mapping for Obstacle-Aided Locomotion in 2D Snake Robots.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Academic article
-
Liljebäck, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2014)
Compliant Control of the Body Shape of Snake Robots.
Academic chapter
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Liljebäck, Pål.
(2014)
Modeling of underwater snake robots.
Academic chapter
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2014)
Modeling of underwater snake robots moving in a vertical plane in 3D.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Academic article
-
Ragazzon, Michael Remo Palmén;
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy.
(2014)
H_inf Reduced Order Control for Nanopositioning: Numerical Implementability.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Teo, Yik R.;
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy;
Fleming, Andrew J..
(2014)
Discrete-Time Repetitive Control With Model-Less FIR Filter Inversion for High Performance Nanopositioning.
IEEE ASME International Conference on Advanced Intelligent Mechatronics
Academic article
-
Liljebäck, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2014)
A 3D motion planning framework for snake robots.
Academic chapter
-
From, Pål Johan;
Pham, Cong Dung;
Gravdahl, Jan Tommy.
(2014)
A Geometric Approach to Actuator Failure in Robotic Manipulators.
Proceedings in Applied Mathematics and Mechanics : PAMM
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2014)
Vehicle-Manipulator Systems.
Springer
Academic monograph
-
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy;
Leang, Kam K..
(2014)
Analog Robust Repetitive Control for Nanopositioning Using Bucket Brigade Devices.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Pham, Cong Dung;
From, Pål Johan;
Gravdahl, Jan Tommy.
(2014)
A Geometric Approach to the Design of Serial and Parallel Manipulators with Passive Joints.
Applied Mathematics
Academic article
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2014)
A waypoint guidance strategy for underwater snake robots.
Mediterranean Conference on Control and Automation (MED)
Academic article
-
Rezapour, Ehsan;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Liljebäck, Pål.
(2014)
Body Shape and Orientation Control for Locomotion of Biologically-Inspired Snake Robots.
Academic chapter
-
Backi, Christoph Josef;
Bendtsen, Jan Dimon;
Leth, John;
Gravdahl, Jan Tommy.
(2014)
Estimation of inner-domain temperatures for a freezing process.
Proceedings of the IEEE Conference on Control Applications
Academic article
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2014)
Stability Analysis of Underwater Snake Robot Locomotion Based on Averaging Theory.
Academic chapter
-
Rezapour, Ehsan;
Pettersen, Kristin Ytterstad;
Liljebäck, Pål;
Gravdahl, Jan Tommy.
(2014)
Differential Geometric Modelling and Robust Path Following Control of Snake Robots Using Sliding Mode Techniques.
IEEE International Conference on Robotics and Automation (ICRA)
Academic article
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2014)
A Control-Oriented Model of Underwater Snake Robots.
Academic chapter
-
Tuffaha, Mutaz;
Gravdahl, Jan Tommy.
(2014)
Modeling and Control of a Marine Diesel Engine driving a Synchronous machine and a Propeller.
Proceedings of the IEEE Conference on Control Applications
Academic article
-
Auestad, Øyvind Fidje;
Gravdahl, Jan Tommy;
Sørensen, Asgeir Johan;
Espeland, Trygve H..
(2014)
Motion Compensation System for a Free Floating Surface Effect Ship.
Academic chapter
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Liljebäck, Pål;
Gravdahl, Jan Tommy.
(2014)
Integral Line-of-Sight for path following of underwater snake robots.
Proceedings of the IEEE Conference on Control Applications
Academic article
-
Rezapour, Ehsan;
Pettersen, Kristin Ytterstad;
Liljebäck, Pål;
Gravdahl, Jan Tommy;
Kelasidi, Eleni.
(2014)
Path following control of planar snake robots using virtual holonomic constraints: theory and experiments.
Robotics and Biomimetics
Academic article
2013
-
Tuffaha, Mutaz;
Gravdahl, Jan Tommy.
(2013)
Mixed-Integer Formulation of Unit Commitment problem for power systems: Focus on start-up cost.
Proceedings of the Annual Conference of the IEEE Industrial Electronics Society (IECON)
Academic article
-
Caharija, Walter;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2013)
Counter-Current and Co-Current Guidance of Underactuated Unmanned Marine Vehicles.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Holden, Christian;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2013)
Optimal Mapping from a Continuous 3D Curve to the Position and Shape of a Snake Robot.
Academic chapter
-
Eielsen, Arnfinn Aas;
Vagia, Marialena;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2013)
Damping and Tracking Control Schemes for Nanopositioning.
IEEE/ASME transactions on mechatronics
Academic article
-
Backi, Christoph Josef;
Gravdahl, Jan Tommy.
(2013)
Optimal boundary control for the heat equation with application to freezing with phase change.
Academic chapter
-
Vagia, Marialena;
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2013)
Design of a nonlinear damping control scheme for nanopositioning.
IEEE ASME International Conference on Advanced Intelligent Mechatronics
Academic article
-
Auestad, Øyvind Fidje;
Gravdahl, Jan Tommy;
Fossen, Thor I..
(2013)
Heave Motion Estimation on a Craft Using a Strapdown Inertial Measurement Unit.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Caharija, Walter;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2013)
Path Following of Marine Surface Vessels with Saturated Transverse Actuators.
American Control Conference (ACC)
Academic article
-
Eielsen, Arnfinn Aas;
Vagia, Marialena;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2013)
Fixed-Structure, Low-Order Damping and Tracking Control Schemes for Nanopositioning.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Pettersen, Kristin Ytterstad;
Liljebäck, Pål;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2013)
Snake Robots - From Biology to Nonlinear Control.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Caharija, Walter;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2013)
Path Following of Underactuated Surface Vessels in Presence of Unknown Constant Environmental Forces: Preliminary Results.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Auestad, Øyvind Fidje;
Gravdahl, Jan Tommy;
Sørensen, Asgeir Johan;
Halvorsen, Trygve Espeland.
(2013)
Simulator and Control System Design for a Free Floating Surface Effect Ship at Zero Vessel Speed.
Elsevier IFAC Publications / IFAC Proceedings series
Academic literature review
-
Nygren, Martin;
Birkeland, Roger;
Gravdahl, Jan Tommy.
(2013)
Using independent combinations of CubeSat solar panels as sun sensors for separating inbound sunlight information.
Academic chapter
-
Utstumo, Trygve;
Gravdahl, Jan Tommy.
(2013)
Implementation and Comparison of Attitude Estimation Methods for Agricultural Robotics.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Tuffaha, Mutaz;
Gravdahl, Jan Tommy.
(2013)
Mixed-Integer Minimization of the Cost function of the Unit Commitment problem for Isolated power systems.
IEEE Conference on Decision and Control. Proceedings
Academic article
-
Rezapour, Ehsan;
Pettersen, Kristin Ytterstad;
Liljebäck, Pål;
Gravdahl, Jan Tommy.
(2013)
Path Following Control of Planar Snake Robots Using Virtual Holonomic Constraints.
Academic chapter
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2013)
Snake Robots - Modelling, Mechatronics, and Control.
Springer
Academic monograph
-
Rahmanpour, Parsa;
Bones, John Atle;
Hovd, Morten;
Gravdahl, Jan Tommy.
(2013)
Linear and Nonlinear State Estimation in the Czochralski Process.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Gale, Serge;
Vestheim, Siri;
Gravdahl, Jan Tommy;
Fjerdingen, Sigurd Aksnes;
Schjølberg, Ingrid.
(2013)
RBF Network Pruning Techniques for Adaptive Learning Controllers.
Academic chapter
-
Backi, Christoph Josef;
Gravdahl, Jan Tommy;
Grøtli, Esten Ingar.
(2013)
Nonlinear observer design for a Greitzer compressor model.
Academic chapter
-
Liljebäck, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2013)
Lateral undulation of snake robots: A simplified model and fundamental properties.
Robotica (Cambridge. Print)
Academic article
2012
-
Caharija, Walter;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Børhaug, Even.
(2012)
Integral LOS Guidance for Horizontal Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Vertical Ocean Currents.
American Control Conference (ACC)
Academic article
-
Caharija, Walter;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Sørensen, Asgeir Johan.
(2012)
Topics on Current Compensation for Path Following Applications of Underactuated Underwater Vehicles.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Caharija, Walter;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Børhaug, Even.
(2012)
Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Ocean Currents.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy.
(2012)
Adaptive Control of a Nanopositioning Device.
IEEE Conference on Decision and Control. Proceedings
Academic article
-
Uddin, Nur;
Gravdahl, Jan Tommy.
(2012)
Introducing Back-up to Active Compressor Surge Control System.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Backi, Christoph Josef;
Gravdahl, Jan Tommy.
(2012)
Modeling of Freezing of Fish by Vertical Plate Freezers.
Academic chapter
-
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy;
Leang, Kam K..
(2012)
Robust Damping PI Repetitive Control for Nanopositioning.
American Control Conference (ACC)
Academic article
-
Uddin, Nur;
Gravdahl, Jan Tommy.
(2012)
Bond graph modeling of centrifugal compressor system.
Academic chapter
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2012)
A review on modelling, implementation, and control of snake robots.
Robotics and Autonomous Systems
Academic article
-
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy.
(2012)
Topics in Control of Nanopositioning Devices.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
From, Pål Johan;
Schjølberg, Ingrid;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad;
Fossen, Thor I..
(2012)
On the Boundedness Property of the Inertia Matrix and Skew-Symmetric Property of the Coriolis Matrix for Vehicle-Manipulator Systems.
Journal of Dynamic Systems Measurement, and Control
Academic article
-
Liljebäck, Pål;
Stavdahl, Øyvind;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2012)
A modular and waterproof snake robot joint mechanism with a novel force/torque sensor.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2012)
A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2012)
Snake Robot Locomotion in Environments With Obstacles.
IEEE/ASME transactions on mechatronics
Academic article
-
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2012)
Adaptive feed-forward hysteresis compensation for piezoelectric actuators.
Review of Scientific Instruments
Academic article
2011
-
Gravdahl, Jan Tommy.
(2011)
Kybernetikk Introduksjon: Innføring i dynamikk og reguleringsteknikk.
Tapir Akademisk Forlag
Working paper
-
From, Pål Johan;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2011)
A Singularity Free Formulation of the Dynamically Equivalent Manipulator Mapping of Space Manipulators.
Academic chapter
-
Eielsen, Arnfinn Aas;
Burger, Mernout;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2011)
PI2-Controller Applied to a Piezoelectric Nanopositioner Using Conditional Integrators and Optimal Tuning.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Uddin, Nur;
Gravdahl, Jan Tommy.
(2011)
Active compressor surge control using piston actuation.
Academic chapter
-
From, Pål Johan;
Gravdahl, Jan Tommy;
Lillehagen, Tommy;
Abbeel, Pieter.
(2011)
Motion planning and control of robotic manipulators on seaborne platforms.
Control Engineering Practice
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2011)
Experimental investigation of fundamental properties of snake robot locomotion.
Academic chapter
-
From, Pål Johan;
Gunnar, John;
Gravdahl, Jan Tommy.
(2011)
Optimal Paint Gun Orientation in Spray Paint Applications-Experimental Results.
IEEE Transactions on Automation Science and Engineering
Academic article
-
Uddin, Nur;
Gravdahl, Jan Tommy.
(2011)
Piston-actuated Active Surge Control of Centrifugal Compressor Including Integral Action.
International Conference on Control, Automation and Systems
Academic article
-
Jensen, Kristian;
Yabar, Kaan Husby;
Gravdahl, Jan Tommy.
(2011)
A comparison of attitude deteermination methods: theory and experiments.
Astronautical research : proceedings of the congress of the International Astronautical Federation
Academic article
-
Eielsen, Arnfinn Aas;
poloni, tomas;
Johansen, Tor Arne;
Gravdahl, Jan Tommy.
(2011)
Experimental Comparison of Online Parameter Identification Schemes for a Nanopositioning Stage with Variable Mass.
Academic chapter
-
Jørgensen, Ulrik;
Gravdahl, Jan Tommy.
(2011)
Observer Based Sliding Mode Attitude Control: Theoretical and Experimental Results.
MIC Journal: Modeling, Identification and Control
Academic article
-
Liljeback, Pål;
Stavdahl, Øyvind;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2011)
Two new design concepts for snake robot locomotion in unstructured environments.
Paladyn - Journal of Behavioral Robotics
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2011)
Stability analysis of snake robot locomotion based on averaging theory.
IEEE Conference on Decision and Control. Proceedings
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2011)
Path following control of snake robots in unstructured environments.
IEEE International Conference on Robotics and Automation (ICRA)
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2011)
Experimental Investigation of Obstacle-Aided Locomotion With a Snake Robot.
IEEE transactions on robotics and automation
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2011)
Controllability and Stability Analysis of Planar Snake Robot Locomotion.
IEEE Transactions on Automatic Control
Academic article
-
Grøtli, Esten Ingar;
Chaillet, Antoine;
Panteley, Elena;
Gravdahl, Jan Tommy.
(2011)
Optimal controller gain tuning for robust stability of spacecraft formation.
Academic chapter
-
From, Pål Johan;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2011)
Singularity-free dynamic equations of spacecraft-manipulator systems.
Acta Astronautica
Academic article
2010
-
Grøtli, Esten Ingar;
Chaillet, Antoine;
Panteley, Elena;
Gravdahl, Jan Tommy.
(2010)
Robustness of ISS Systems to Inputs with Limited Moving Average, with Application to Spacecraft Formations.
Academic chapter
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2010)
Hybrid Modelling and Control of Obstacle-Aided Snake Robot Locomotion.
IEEE transactions on robotics and automation
Academic article
-
From, Pål Johan;
Schjølberg, Ingrid;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad;
Fossen, Thor I..
(2010)
On the Boundedness and Skew-Symmetric Properties of the Inertia and Coriolis Matrices for Vehicle-Manipulator Systems.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2010)
Fundamental properties of snake robot locomotion.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Academic article
-
From, Pål Johan;
Abbeel, Pieter;
Gravdahl, Jan Tommy.
(2010)
On the Influence of Ship Motion Prediction Accuracy on Motion Planning and Control of Robotic Manipulators on Seaborne Platforms.
IEEE International Conference on Robotics and Automation (ICRA)
Academic article
-
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad;
Vogl, Lukas.
(2010)
Tracking Control for a Piezoelectric Nanopositioner Using Estimated States and Feedforward Compensation of Hysteresis.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
From, Pål Johan;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2010)
Singularity-Free Dynamic Equations of AUV-Manipulator Systems.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
From, Pål Johan;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2010)
Singularity-Free Dynamic Equations of Spacecraft-Manipulator Systems.
Proceedings of the International Astronautical Congress
Academic article
-
From, Pål Johan;
Duindam, Vincent;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Sastry, Shankar.
(2010)
Singularity-free dynamic equations of vehicle-manipulator systems.
Simulation modelling practice and theory
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2010)
A hybrid model of obstacle-aided snake robot locomotion.
IEEE International Conference on Robotics and Automation (ICRA)
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2010)
A Real-Time Algorithm to Determine the Optimal Paint Gun Orientation in Spray Paint Applications.
IEEE Transactions on Automation Science and Engineering
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2010)
Fundamental properties of snake robot locomotion.
Academic chapter
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2010)
Experimental investigation of fundamental properties of snake robot locomotion.
Academic chapter
-
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2010)
Robust stability and control of spacecraft formations.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2010)
Robust and Optimal Solutions for Autonomous Operation.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2010)
A simplified model of planar snake robot locomotion.
Academic chapter
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2010)
A simplified model of planar snake robot locomotion.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Academic article
2009
-
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy.
(2009)
Output feedback control of relative spacecraft attitude.
Academic chapter
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2009)
Real-time Optimal Trajectory Planning for Robotic Manipulators with Functional Redundancy.
Academic chapter
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2009)
Fault Tolerance of Parallel Manipulators with Passive Joints.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2009)
Representing sets of orientations as convex cones.
IEEE International Conference on Robotics and Automation (ICRA)
Academic article
-
From, Pål Johan;
Duindam, Vincent;
Gravdahl, Jan Tommy;
Sastry, S. Shankar.
(2009)
Modeling and motion planning for mechanisms on a non-inertial base.
IEEE International Conference on Robotics and Automation (ICRA)
Academic article
-
Kristiansen, Raymond;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2009)
Satellite Attitude Control by Quaternion-Based Backstepping.
IEEE Transactions on Control Systems Technology
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2009)
Proceedings IEEE International Conference on Intelligent Robots and Systems.
IEEE (Institute of Electrical and Electronics Engineers)
Anthology
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2009)
Controllability analysis of planar snake robots influenced by viscous ground friction.
Academic chapter
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2009)
Stability analysis of snake robot locomotion based on Poincaré maps.
Academic chapter
2008
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2008)
Considering Passive Joints in Cooperative Manipulation as Functional Redundancy.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Adams, G.J.;
Burke, B.J.;
Goodwin, Graham C.;
Gravdahl, Jan Tommy;
Peirce, R.D.;
Rojas, A.J..
(2008)
Managing steam and concentration disturbances in multi-effect evaporators via nonlinear modelling and control.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2008)
Iterative Solutions to the Inverse Geometric Problem for Manipulators with no Closed Form Solution.
MIC Journal: Modeling, Identification and Control
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2008)
General Solutions to Functional and Kinematic Redundancy.
MIC Journal: Modeling, Identification and Control
Academic article
-
Hovland, Svein;
Gravdahl, Jan Tommy;
Willcox, KE.
(2008)
Explicit model predictive control for large-scale systems via model reduction.
Journal of Guidance Control and Dynamics
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2008)
On the mobility and fault tolerance of closed chain manipulators with passive joints.
MIC Journal: Modeling, Identification and Control
Academic article
-
Hovland, Svein;
Gravdahl, Jan Tommy.
(2008)
Model Reduction and Control in Computational Fluid Dynamics.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Hovland, Svein;
Løvaas, Christian;
Gravdahl, Jan Tommy;
Goodwin, Graham C..
(2008)
Stability of Model Predictive Control Based on Reduced-Order Models.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad;
Børhaug, Even.
(2008)
AUVSAT - an experimental platform for spacecraft formation flying.
Proceedings of the International Astronautical Congress
Academic article
-
Bohagen, B;
Gravdahl, Jan Tommy.
(2008)
Active surge control of compression system using drive torque.
Automatica
Academic article
-
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2008)
Formation Control by Quantized Output Feedback.
Academic chapter
-
Grøtli, Esten Ingar;
Chaillet, Antoine;
Gravdahl, Jan Tommy.
(2008)
Output Control of Spacecraft in Leader Follower Formation.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Hovland, Svein;
Gravdahl, Jan Tommy.
(2008)
Complexity Reduction in Explicit MPC through Model Reduction.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2008)
Output attitude tracking of formation of spacecraft.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Paul, Tobias;
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy.
(2008)
Modelling of UAV formation flight using 3D potential field.
Simulation modelling practice and theory
Academic article
-
Paul, Tobias;
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy.
(2008)
UAV Formation Flight using 3D Potential Field.
Academic chapter
-
Kristiansen, Raymond;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2008)
Spacecraft coordination control in 6DOF: integrator backstepping vs passivity-based control.
Automatica
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2008)
On the Equivalence of Orientation Error and Positive Definiteness of Matrices.
Academic chapter
2007
-
Kristiansen, Raymond;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2007)
Formation Modelling and 6DOF Spacecraft Coordination Control.
American Control Conference (ACC)
Academic article
-
Gravdahl, Jan Tommy;
Egeland, Olav.
(2007)
New undergraduate courses in control.
MIC Journal: Modeling, Identification and Control
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2007)
General solutions to functional and kinematic redundancy.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Bøhagen, Bjørnar;
Gravdahl, Jan Tommy.
(2007)
Circle criterion observer for a compression system.
American Control Conference (ACC)
Academic article
-
Kristiansen, Raymond;
Krogstad, Thomas Røbekk;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2007)
Spacecraft coordination control using PID backstepping.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Kristiansen, Raymond;
Grøtli, Esten Ingar;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2007)
A model of relative translation and rotation in leader-follower spacecraft formations.
MIC Journal: Modeling, Identification and Control
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2007)
Representing attitudes as sets of frames.
American Control Conference (ACC)
Academic article
-
Krogstad, Thomas Røbekk;
Kristiansen, Raymond;
Gravdahl, Jan Tommy;
Nicklasson, Per Johan.
(2007)
PID+ backstepping control of relative spacecraft attitude.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Bøhagen, Bjørnar;
Gravdahl, Jan Tommy.
(2007)
Active surge control of centrifugal compression systems: Theoretical and experimental results of drive actuation.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2007)
Passivity based controller-observer schemes for relative translation of a formation of spacecraft.
American Control Conference (ACC)
Academic article
-
Krogstad, Thomas R.;
Kristiansen, Raymond;
Gravdahl, Jan Tommy;
Nicklasson, Per Johan.
(2007)
PID+ backstepping control of relative spacecraft attitude.
Academic chapter
2006
-
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy.
(2006)
6-DOF mutual synchronization of formation flying spacecraft.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Kristiansen, Raymond;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2006)
Quaternion-Based Backstepping Control of Relative Attitude in a Spacecraft Formation.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Gravdahl, Jan Tommy.
(2006)
Editorial, special Issue SIMS2005.
MIC Journal: Modeling, Identification and Control
Editorial
-
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy.
(2006)
Coordinated attitude control of satellites in formation.
Lecture notes in control and information sciences
Academic article
-
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Nijmeijer, Henk.
(2006)
Group Coordination and Cooperative Control.
Springer
Anthology
-
Bøhagen, Bjørnar;
Gravdahl, Jan Tommy.
(2006)
Active surge control using drive torque; dynamic control laws.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Hovland, Svein;
Gravdahl, Jan Tommy.
(2006)
Order Reduction and Output Feedback Stabilization of an Unstable CFD Model.
American Control Conference (ACC)
Academic article
-
Hovland, Svein;
Willcox, Karen E.;
Gravdahl, Jan Tommy.
(2006)
MPC for Large-Scale Systems via Model Reduction and Multiparametric Quadratic Programming.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Hovland, Svein;
Gravdahl, Jan Tommy.
(2006)
Stabilizing a CFD model of an unstable system through model reduction.
MIC Journal: Modeling, Identification and Control
Academic article
2005
-
Bøhagen, Bjørnar;
Gravdahl, Jan Tommy.
(2005)
Active control of compression systems using drive torque; a backstepping approach.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Gravdahl, Jan Tommy.
(2005)
Kybernetikk Introduksjon: Innføring i dynamikk og reguleringsteknikk.
Tapir Akademisk Forlag
Working paper
-
Hegrenæs, Øyvind;
Gravdahl, Jan Tommy;
Tøndel, Johan Petter.
(2005)
Spacecraft Attitude Control using Explicit Model Predictive Control.
Automatica
Academic article
-
Kristiansen, Raymond;
Grøtli, Esten Ingar;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2005)
A model of relative position and attitude in a leader-follower spacecraft formation.
Academic chapter
-
Bondhus, Anne Karin;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2005)
Leader/Follower synchronization of satellite attitude without angular velocity measurements.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Hovland, Svein;
Gravdahl, Jan Tommy.
(2005)
Stabilizing a CFD model of an unstable system.
Academic chapter
-
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy;
Kristiansen, Raymond.
(2005)
Attitude control of satellites in clusters.
Tapir trykk
Master thesis
-
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy;
Tøndel, Johan Petter.
(2005)
Attitude control and stability analysis of satellites in earth and moon orbit.
Academic chapter
-
Amundsen, Jørn Aslak;
Andersson, Helge Ingolf;
Celledoni, Elena;
Gravdahl, Jan Tommy;
Nagel, Henrik;
Natvig, Thorvald.
(2005)
SIMS 2005 46th Conference on Simulation and Modeling.
Tapir Akademisk Forlag
Anthology
-
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy;
Kristiansen, Raymond.
(2005)
Coordinated control of satellites: the attitude case.
Academic chapter
-
Sunde, Bernt-Ove;
Gravdahl, Jan Tommy.
(2005)
Attitude Determination for the student satellite nCubeII: Kalman Filter.
Academic chapter
-
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy;
Tøndel, Johan Petter.
(2005)
Explicit model predictive control of a satellite with magnetic torquers.
Academic chapter
-
Hegrenæs, Øyvind;
Gravdahl, Jan Tommy;
Tøndel, Johan Petter.
(2005)
Attitude Control by means of Explicit Model Predictive Control, via Multi-parametric Quadratic Programming.
American Control Conference (ACC)
Academic article
-
Kristiansen, Raymond;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2005)
Satellite attitude tracking by quaternion-based backstepping.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Kristiansen, Raymond;
Grøtli, Esten Ingar;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2005)
A model of relative position and attitude in a leader-follower spacecraft formation.
Høgskolen i Narvik
Research report
-
Kristiansen, Raymond;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2005)
Satellite attitude control by quaternion-based backstepping.
Høgskolen i Narvik
Research report
2004
-
Gravdahl, Jan Tommy.
(2004)
Kybernetikk Introduksjon: Innføring i dynamikk og reguleringsteknikk.
Institutt for teknisk kybernetikk
Working paper
-
Kristiansen, Raymond;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2004)
Satellite attitude tracking by quaternion-based backstepping.
Høgskolen i Narvik
Research report
-
Gravdahl, Jan Tommy;
Willems, Frank;
Egeland, Olav;
Jager, Bram De.
(2004)
Modeling of surge in variable speed centrifugal compressors: Experimental validation.
Journal of Propulsion and Power
Academic article
-
Gravdahl, Jan Tommy;
Egeland, Olav.
(2004)
New undergraduate courses in control.
Control Systems Magazine
Academic article
-
Hovd, Morten;
Foss, Bjarne Anton;
Gravdahl, Jan Tommy.
(2004)
Future need for Information and Communication Technology in the areas of Production, Transportation and Utilisation of Natural Gas.
Academic chapter
-
Topland, Morten Pedersen;
Gravdahl, Jan Tommy.
(2004)
Nonlinear Attitude Control of the Micro-Satellite ESEO.
NTNU
Master thesis
2002
-
Gravdahl, Jan Tommy;
Egeland, Olav;
Vatland, Svein.
(2002)
Drive torque actuation in active surge control of centrifugal compressors.
Automatica
Academic article
-
Egeland, Olav;
Gravdahl, Jan Tommy.
(2002)
Modeling and simulation for automatic control.
Marine Cybernetics
Textbook
2001
-
Egeland, Olav;
Gravdahl, Jan Tommy.
(2001)
Modeling and Simulation for Control.
Institutt for teknisk kybernetikk, NTNU
Working paper
1999
-
Gravdahl, Jan Tommy;
Egeland, Olav.
(1999)
Centrifugal compressor surge and speed control.
IEEE Transactions on Control Systems Technology
Academic article
1998
-
Gravdahl, Jan Tommy.
(1998)
Modeling and control of surge and rotating stall in compressors.
Institutt for teknisk kybernetikk, NTNU
Doctoral thesis
-
Gravdahl, Jan Tommy;
Egeland, Olav.
(1998)
Compressor surge and rotating stall: Modeling and control.
Springer
Non-fiction monograph
-
Gravdahl, Jan Tommy;
Egeland, Olav.
(1998)
Speed and surge control for a low order centrifugal compressor model.
MIC Journal: Modeling, Identification and Control
Academic article
Journal publications
-
Nguyen, Kenny Hoang;
Caharija, Walter;
Ohrem, Sveinung Johan;
Gravdahl, Jan Tommy;
Loría, Antonio;
Amundsen, Herman Biørn.
(2026)
Robust Control of Autonomous Remotely Operated Vehicles at Exposed Aquaculture Sites.
IEEE Transactions on Control Systems Technology
Academic article
-
Dyrhaug, Jan Inge;
Schmidt-Didlaukies, Henrik;
Pettersen, Kristin Y.;
Gravdahl, Jan Tommy.
(2025)
Super-twisting impedance control of redundant robots.
Mechatronics (Oxford)
Academic article
-
Hansen, Harald Minde;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Castro, Mario Di.
(2025)
Trajectory Tracking Control of a Tendon-Actuated Manipulator with Rolling Joints.
IFAC-PapersOnLine
Academic article
-
Hua, Minh Tuan;
Gravdahl, Jan Tommy;
Sanfilippo, Filippo.
(2025)
Adaptive Cartesian Position Control with a Switching Strategy for Robotic Manipulator with Mixed Rigid-Elastic Joints.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Academic article
-
Wrzos-Kaminska, Marianna;
Dyrhaug, Jan Inge;
Sæbø, Bjørn Kåre;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2025)
Exponentially Stable Robust Hierarchical Tracking Control for Vehicle-Manipulator Systems.
IEEE Conference on Control Technology and Applications (CCTA)
Academic article
-
Robinson, Haakon;
Lundby, Erlend Torje Berg;
Rasheed, Adil;
Gravdahl, Jan Tommy.
(2023)
Deep learning assisted physics-based modeling of aluminum extraction process.
Engineering Applications of Artificial Intelligence
Academic article
-
Backi, Christoph Josef;
Gravdahl, Jan Tommy;
Skogestad, Sigurd.
(2016)
Robust control of a two-state Greitzer compressor model by state-feedback linearization.
Proceedings of the IEEE Conference on Control Applications
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2008)
Considering Passive Joints in Cooperative Manipulation as Functional Redundancy.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Borlaug, Ida-Louise Garmann;
Gravdahl, Jan Tommy;
Sverdrup-Thygeson, Jørgen;
Pettersen, Kristin Ytterstad;
Loria, Antonio.
(2018)
Trajectory tracking for underwater swimming manipulators using a super twisting algorithm.
Asian journal of control
Academic article
-
Adams, G.J.;
Burke, B.J.;
Goodwin, Graham C.;
Gravdahl, Jan Tommy;
Peirce, R.D.;
Rojas, A.J..
(2008)
Managing steam and concentration disturbances in multi-effect evaporators via nonlinear modelling and control.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2008)
Iterative Solutions to the Inverse Geometric Problem for Manipulators with no Closed Form Solution.
MIC Journal: Modeling, Identification and Control
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2008)
General Solutions to Functional and Kinematic Redundancy.
MIC Journal: Modeling, Identification and Control
Academic article
-
Seel, Katrine;
Bahari Kordabad, Arash;
Gros, Sebastien;
Gravdahl, Jan Tommy.
(2022)
Convex Neural Network-Based Cost Modifications for Learning Model Predictive Control.
IEEE Open Journal of Control Systems
Academic article
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2015)
Energy efficiency of underwater robots.
IFAC-PapersOnLine
Academic article
-
Lundby, Erlend Torje Berg;
Robinson, Haakon;
Rasheed, Adil;
Halvorsen, Ivar Johan;
Gravdahl, Jan Tommy.
(2023)
Sparse Neural Networks with Skip-Connections for Identification of Aluminum Electrolysis Cell.
IEEE Conference on Decision and Control. Proceedings
Academic article
-
Hovland, Svein;
Gravdahl, Jan Tommy;
Willcox, KE.
(2008)
Explicit model predictive control for large-scale systems via model reduction.
Journal of Guidance Control and Dynamics
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2008)
On the mobility and fault tolerance of closed chain manipulators with passive joints.
MIC Journal: Modeling, Identification and Control
Academic article
-
Bøhagen, Bjørnar;
Gravdahl, Jan Tommy.
(2005)
Active control of compression systems using drive torque; a backstepping approach.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Backi, Christoph Josef;
Bendtsen, Jan Dimon;
Leth, John;
Gravdahl, Jan Tommy.
(2014)
The nonlinear heat equation with state-dependent parameters and its connection to the Burgers' and the potential Burgers' equation.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2010)
Hybrid Modelling and Control of Obstacle-Aided Snake Robot Locomotion.
IEEE transactions on robotics and automation
Academic article
-
Hegrenæs, Øyvind;
Gravdahl, Jan Tommy;
Tøndel, Johan Petter.
(2005)
Spacecraft Attitude Control using Explicit Model Predictive Control.
Automatica
Academic article
-
Wrzos-Kaminska, Marianna;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2019)
Path following control for articulated intervention-AUVs using geometric control of reduced attitude.
IFAC-PapersOnLine
Academic article
-
Uddin, Nur;
Gravdahl, Jan Tommy.
(2016)
Active Compressor Surge Control System by Using Piston Actuation: Implementation and Experimental Results.
IFAC-PapersOnLine
Academic article
-
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy.
(2006)
6-DOF mutual synchronization of formation flying spacecraft.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Tuffaha, Mutaz;
Gravdahl, Jan Tommy.
(2013)
Mixed-Integer Formulation of Unit Commitment problem for power systems: Focus on start-up cost.
Proceedings of the Annual Conference of the IEEE Industrial Electronics Society (IECON)
Academic article
-
Auestad, Øyvind Fidje;
Gravdahl, Jan Tommy;
Perez, Tristan;
Sørensen, Asgeir Johan;
Espeland, Trygve H..
(2015)
Boarding control system for improved accessibility to offshore wind turbines: Full-scale testing.
Control Engineering Practice
Academic article
-
Caharija, Walter;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Børhaug, Even.
(2012)
Integral LOS Guidance for Horizontal Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Vertical Ocean Currents.
American Control Conference (ACC)
Academic article
-
From, Pål Johan;
Schjølberg, Ingrid;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad;
Fossen, Thor I..
(2010)
On the Boundedness and Skew-Symmetric Properties of the Inertia and Coriolis Matrices for Vehicle-Manipulator Systems.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Kristiansen, Bjørn Andreas;
Gravdahl, Jan Tommy.
(2023)
Maximum Hands-Off Attitude Control of a Spacecraft Actuated by Thrusters.
IFAC-PapersOnLine
Academic article
-
Kristiansen, Bjørn Andreas;
Gravdahl, Jan Tommy;
Gros, Sebastien Nicolas;
Johansen, Tor Arne.
(2023)
Energy optimal attitude control of a satellite actuated by magnetorquers in minimum time.
IEEE Conference on Control Technology and Applications (CCTA)
Academic article
-
Caharija, Walter;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Sørensen, Asgeir Johan.
(2012)
Topics on Current Compensation for Path Following Applications of Underactuated Underwater Vehicles.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Hovland, Svein;
Løvaas, Christian;
Gravdahl, Jan Tommy;
Goodwin, Graham C..
(2008)
Stability of Model Predictive Control Based on Reduced-Order Models.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Kelasidi, Eleni;
Moe, Signe;
Pettersen, Kristin Ytterstad;
Kohl, Anna M;
Liljebäck, Pål;
Gravdahl, Jan Tommy.
(2019)
Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots.
Frontiers in Robotics and AI
Academic article
-
Grøtte, Mariusz Eivind;
Gravdahl, Jan Tommy;
Johansen, Tor Arne.
(2023)
A Constrained Control Allocation and Tuning Scheme for Hybrid Actuators in Spacecraft Attitude Control.
IFAC-PapersOnLine
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2010)
Fundamental properties of snake robot locomotion.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Academic article
-
Kelasidi, Eleni;
Jesmani, Mansoureh;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2016)
Multi-objective optimization for efficient motion of underwater snake robots.
Artificial Life and Robotics
Academic article
-
Caharija, Walter;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2013)
Counter-Current and Co-Current Guidance of Underactuated Unmanned Marine Vehicles.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Kristiansen, Bjørn Andreas;
Gravdahl, Jan Tommy;
Gros, Sebastien Nicolas;
Johansen, Tor Arne.
(2024)
Energy Optimal Attitude Control and Task Execution for a Solar-Powered Spacecraft.
IEEE Transactions on Control Systems Technology
Academic article
-
Caharija, Walter;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Børhaug, Even.
(2012)
Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Ocean Currents.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Kristiansen, Raymond;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2006)
Quaternion-Based Backstepping Control of Relative Attitude in a Spacecraft Formation.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
From, Pål Johan;
Abbeel, Pieter;
Gravdahl, Jan Tommy.
(2010)
On the Influence of Ship Motion Prediction Accuracy on Motion Planning and Control of Robotic Manipulators on Seaborne Platforms.
IEEE International Conference on Robotics and Automation (ICRA)
Academic article
-
Caharija, Walter;
Pettersen, Kristin Ytterstad;
Sørensen, Asgeir Johan;
Candeloro, Mauro;
Gravdahl, Jan Tommy.
(2014)
Relative velocity control and integral line of sight for path following of autonomous surface vessels: Merging intuition with theory.
Journal of Engineering for the Maritime Environment (Part M)
Academic article
-
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad;
Vogl, Lukas.
(2010)
Tracking Control for a Piezoelectric Nanopositioner Using Estimated States and Feedforward Compensation of Hysteresis.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Onstein, Ingrid Fjordheim;
Evjemo, Linn Danielsen;
Gravdahl, Jan Tommy.
(2021)
Additive Manufacturing Path Generation for Robot Manipulators Based on CAD Models.
IFAC-PapersOnLine
Academic article
-
Arbo, Mathias Hauan;
Eriksen, Ivar;
Sanfilippo, Filippo;
Gravdahl, Jan Tommy.
(2021)
Comparison of KVP and RSI for Controlling KUKA Robots Over ROS.
IFAC-PapersOnLine
Academic article
-
From, Pål Johan;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2010)
Singularity-Free Dynamic Equations of AUV-Manipulator Systems.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Evjemo, Linn Danielsen;
Moe, Signe;
Gravdahl, Jan Tommy.
(2021)
Robotised Wire Arc Additive Manufacturing Using Set-based Control: Experimental Results.
IFAC-PapersOnLine
Academic article
-
Guttormsen, Erik;
Toldnes, Bendik;
Bondø, Morten Steen;
Eilertsen, Aleksander;
Gravdahl, Jan Tommy;
Mathiassen, John Reidar Bartle.
(2016)
A Machine Vision System for Robust Sorting of Herring Fractions.
Food and Bioprocess Technology
Academic article
-
Kristiansen, Bjørn Andreas;
Grøtte, Mariusz Eivind;
Gravdahl, Jan Tommy.
(2021)
Quaternion-Based Generalized Super-Twisting Algorithm for Spacecraft Attitude Control.
IFAC-PapersOnLine
Academic article
-
Moltumyr, Andreas Hanssen;
Ragazzon, Michael Remo Palmén;
Gravdahl, Jan Tommy.
(2021)
Fractional-order Control: Nyquist Constrained Optimization.
IFAC-PapersOnLine
Academic article
-
Moe, Signe;
Remonato, Filippo;
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2020)
Linear Antisymmetric Recurrent Neural Networks.
Proceedings of Machine Learning Research (PMLR)
Academic article
-
Kristiansen, Raymond;
Ørke, Henning Levik;
Gravdahl, Jan Tommy.
(2023)
Modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels.
Simulation modelling practice and theory
Academic article
-
Arbo, Mathias Hauan;
Utstumo, Trygve;
Brekke, Edmund Førland;
Gravdahl, Jan Tommy.
(2017)
Unscented Multi-Point Smoother for Fusion of Delayed Displacement Measurements: Application to Agricultural Robots.
MIC Journal: Modeling, Identification and Control
Academic article
-
Bondhus, Anne Karin;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2005)
Leader/Follower synchronization of satellite attitude without angular velocity measurements.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Kelasidi, Eleni;
Kohl, Anna M;
Pettersen, Kristin Ytterstad;
Hoffmann, Bjørn Håvard;
Gravdahl, Jan Tommy.
(2018)
Experimental investigation of locomotion efficiency and path-following for underwater snake robots with and without a caudal fin.
Annual Reviews in Control
Academic article
-
Ragazzon, Michael Remo Palmén;
Gravdahl, Jan Tommy;
Fleming, Andrew J..
(2016)
On Amplitude Estimation for High-Speed Atomic Force Microscopy.
American Control Conference (ACC)
Academic article
-
Oland, Espen;
Kristiansen, Raymond;
Gravdahl, Jan Tommy.
(2018)
A comparative study of different control structures for flight control with new results.
IEEE Transactions on Control Systems Technology
Academic article
-
Grøtli, Esten Ingar;
Panteley, Elena;
Chaillet, Antoine;
Gravdahl, Jan Tommy.
(2016)
Robustness of ISS systems to inputs with limited moving average: Application to spacecraft formations.
International Journal of Robust and Nonlinear Control
Academic article
-
Grøtte, Mariusz Eivind;
Gravdahl, Jan Tommy;
Johansen, Tor Arne;
Larsen, Jesper A;
Vidal, Edgar M;
Surma, Egidijus.
(2021)
Spacecraft Attitude and Angular Rate Tracking using Reaction Wheels and Magnetorquers.
IFAC-PapersOnLine
Academic article
-
Foseid, Eirik Lothe;
Basso, Erlend Andreas;
Schmidt-Didlaukies, Henrik;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Line-of-Sight Guidance: Learning to Look Ahead.
IEEE Journal of Oceanic Engineering
Academic article
-
Eielsen, Arnfinn Aas;
Burger, Mernout;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2011)
PI2-Controller Applied to a Piezoelectric Nanopositioner Using Conditional Integrators and Optimal Tuning.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad;
Børhaug, Even.
(2008)
AUVSAT - an experimental platform for spacecraft formation flying.
Proceedings of the International Astronautical Congress
Academic article
-
Bohagen, B;
Gravdahl, Jan Tommy.
(2008)
Active surge control of compression system using drive torque.
Automatica
Academic article
-
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy;
Leang, Kam K..
(2015)
Low-order continuous-time robust repetitive control: Application in nanopositioning.
Mechatronics (Oxford)
Academic article
-
Iversflaten, Markus Høgevoll;
Sæbø, Bjørn Kåre;
Basso, Erlend Andreas;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2023)
Task-Priority Operational Space Control for Vehicle-Manipulator Systems with Modelling Errors.
IFAC-PapersOnLine
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy;
Lillehagen, Tommy;
Abbeel, Pieter.
(2011)
Motion planning and control of robotic manipulators on seaborne platforms.
Control Engineering Practice
Academic article
-
Uddin, Nur;
Gravdahl, Jan Tommy.
(2015)
Bond graph modeling of centrifugal compression systems.
Simulation
Academic article
-
Sadanandan Anand, Akhil;
Gravdahl, Jan Tommy;
Abu-Dakka, Fares J..
(2023)
Model-based variable impedance learning control for robotic manipulation.
Robotics and Autonomous Systems
Academic article
-
Moe, Signe;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2020)
Set-based collision avoidance applications to robotic systems.
Mechatronics (Oxford)
Academic article
-
Seel, Katrine;
Haring, Mark A. M.;
Grøtli, Esten Ingar;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2021)
Learning-based Robust Model Predictive Control for Sector-bounded Lur'e Systems.
IFAC-PapersOnLine
Academic article
-
Seel, Katrine;
Grøtli, Esten Ingar;
Moe, Signe;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2021)
Neural Network-based Model Predictive Control with Input-to-State Stability.
American Control Conference (ACC)
Academic article
-
Dyrhaug, Jan Inge;
Foseid, Eirik Lothe;
Schmidt-Didlaukies, Henrik;
Basso, Erlend Andreas;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Super-Twisting Impedance Control for Robust and Compliant Interaction using a Redundant Robot Manipulator.
IFAC-PapersOnLine
Academic article
-
Orucevic, Amer;
Foseid, Eirik Lothe;
Lysø, Mads Erlend Bøe;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Nonlinear model predictive control for sinusoidal gait tracking for an underwater snake robot.
IFAC-PapersOnLine
Academic article
-
Uddin, Nur;
Gravdahl, Jan Tommy.
(2016)
Two General State Feedback Control Laws for Compressor Surge Stabilization.
Mediterranean Conference on Control and Automation (MED)
Academic article
-
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy.
(2012)
Adaptive Control of a Nanopositioning Device.
IEEE Conference on Decision and Control. Proceedings
Academic article
-
Kohl, Anna M;
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2017)
Model-based LOS path-following control of planar underwater snake robots.
Lecture notes in control and information sciences
Academic article
-
Borlaug, Ida-Louise Garmann;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2018)
Trajectory tracking for an articulated intervention AUV using a super-twisting algorithm in 6 DOF.
IFAC-PapersOnLine
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2009)
Fault Tolerance of Parallel Manipulators with Passive Joints.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Ragazzon, Michael Remo Palmén;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2018)
Model-Based Identification of Nanomechanical Properties in Atomic Force Microscopy: Theory and Experiments.
IEEE Transactions on Control Systems Technology
Academic article
-
Neverlien, Åse Victoria;
Moe, Signe;
Gravdahl, Jan Tommy.
(2020)
Compressor Surge Control Using Lyapunov Neural Networks.
MIC Journal: Modeling, Identification and Control
Academic article
-
From, Pål Johan;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2010)
Singularity-Free Dynamic Equations of Spacecraft-Manipulator Systems.
Proceedings of the International Astronautical Congress
Academic article
-
Dyrhaug, Jan Inge;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Robust Interaction using Generalized Super-Twisting Impedance Control.
IFAC-PapersOnLine
Academic article
-
Holden, Christian;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2014)
Optimal Dynamic Force Mapping for Obstacle-Aided Locomotion in 2D Snake Robots.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Academic article
-
Gale, Serge;
Rahmati, Hodjatolah;
Gravdahl, Jan Tommy;
Martens, Harald.
(2017)
Improvement of a Robotic Manipulator Model Based on Multivariate Residual Modeling.
Frontiers in Robotics and AI
Academic article
-
Caharija, Walter;
Pettersen, Kristin Ytterstad;
Bibuli, Marco;
Calado, Pável;
Zereik, Enrica;
Braga, Jose;
Gravdahl, Jan Tommy;
Sørensen, Asgeir Johan;
Milovanovic, Milan;
Bruzzone, Gabriele.
(2016)
Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations and Experiments.
IEEE Transactions on Control Systems Technology
Academic article
-
Ragazzon, Michael Remo Palmén;
Ruppert, Michael G.;
Harcombe, David M.;
Fleming, Andrew J.;
Gravdahl, Jan Tommy.
(2017)
Lyapunov Estimator for High-Speed Demodulation in Dynamic Mode Atomic Force Microscopy.
IEEE Transactions on Control Systems Technology
Academic article
-
Grøtte, Mariusz Eivind;
Birkeland, Roger;
Honoré-Livermore, Evelyn;
Bakken, Sivert;
Garrett, Joseph;
Prentice, Elizabeth Frances;
Sigernes, Fred;
Orlandic, Milica;
Gravdahl, Jan Tommy;
Johansen, Tor Arne.
(2021)
Ocean Color Hyperspectral Remote Sensing With High Resolution and Low Latency--The HYPSO-1 CubeSat Mission.
IEEE Transactions on Geoscience and Remote Sensing
Academic article
-
Seel, Katrine;
Gros, Sebastien Nicolas;
Gravdahl, Jan Tommy.
(2023)
Combining Q-learning and Deterministic Policy Gradient for Learning-Based MPC.
IEEE Conference on Decision and Control. Proceedings
Academic article
-
Kelasidi, Eleni;
Liljebäck, Pål;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2016)
Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots.
IEEE robotics & automation magazine
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2009)
Representing sets of orientations as convex cones.
IEEE International Conference on Robotics and Automation (ICRA)
Academic article
-
Sæbø, Bjørn Kåre;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2024)
Kinematic Task-Priority Path Following for Articulated Marine Vehicles.
IFAC-PapersOnLine
Academic article
-
Tveter, Erling;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Power-Based Safety Constraint for Redundant Robotic Manipulators.
IFAC-PapersOnLine
Academic article
-
Eielsen, Arnfinn Aas;
Vagia, Marialena;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2013)
Damping and Tracking Control Schemes for Nanopositioning.
IEEE/ASME transactions on mechatronics
Academic article
-
From, Pål Johan;
Duindam, Vincent;
Gravdahl, Jan Tommy;
Sastry, S. Shankar.
(2009)
Modeling and motion planning for mechanisms on a non-inertial base.
IEEE International Conference on Robotics and Automation (ICRA)
Academic article
-
Lysø, Mads Erlend Bøe;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Energy-Shaping Control for Swimming in Underwater Snake Robots.
IFAC-PapersOnLine
Academic article
-
Kristiansen, Raymond;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2009)
Satellite Attitude Control by Quaternion-Based Backstepping.
IEEE Transactions on Control Systems Technology
Academic article
-
Nysæther, Torje;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2023)
Hierarchical Compliance-Control-Based Docking of a UVMS.
OCEANS
Academic article
-
Ragazzon, Michael Remo Palmén;
Gravdahl, Jan Tommy;
Vagia, Marialena.
(2017)
Viscoelastic properties of cells: Modeling and identification by atomic force microscopy.
Mechatronics (Oxford)
Academic article
-
Ragazzon, Michael Remo Palmén;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2017)
Exponential Convergence Bounds in Least Squares Estimation: Identification of Viscoelastic Properties in Atomic Force Microscopy.
IEEE Control Systems
Academic article
-
Utstumo, Trygve;
Urdal, Frode;
Brevik, Anders;
Dørum, Jarle;
Netland, Jan;
Overskeid, Øyvind;
Berge, Therese W.;
Gravdahl, Jan Tommy.
(2018)
Robotic in-row weed control in vegetables.
Computers and Electronics in Agriculture
Academic article
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2015)
Energy efficiency of underwater snake robot locomotion.
Mediterranean Conference on Control and Automation (MED)
Academic article
-
Kelasidi, Eleni;
Liljebäck, Pål;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2017)
Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments.
IEEE Transactions on Robotics
Academic article
-
Evjemo, Linn Danielsen;
Langelandsvik, Geir;
Gravdahl, Jan Tommy.
(2019)
Wire arc additive manufacturing by robot manipulator: Towards creating complex geometries.
IFAC-PapersOnLine
Academic article
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2014)
Modeling of underwater snake robots moving in a vertical plane in 3D.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Academic article
-
Ragazzon, Michael Remo Palmén;
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy.
(2014)
H_inf Reduced Order Control for Nanopositioning: Numerical Implementability.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Teo, Yik R.;
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy;
Fleming, Andrew J..
(2014)
Discrete-Time Repetitive Control With Model-Less FIR Filter Inversion for High Performance Nanopositioning.
IEEE ASME International Conference on Advanced Intelligent Mechatronics
Academic article
-
From, Pål Johan;
Duindam, Vincent;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Sastry, Shankar.
(2010)
Singularity-free dynamic equations of vehicle-manipulator systems.
Simulation modelling practice and theory
Academic article
-
From, Pål Johan;
Pham, Cong Dung;
Gravdahl, Jan Tommy.
(2014)
A Geometric Approach to Actuator Failure in Robotic Manipulators.
Proceedings in Applied Mathematics and Mechanics : PAMM
Academic article
-
Gravdahl, Jan Tommy;
Willems, Frank;
Egeland, Olav;
Jager, Bram De.
(2004)
Modeling of surge in variable speed centrifugal compressors: Experimental validation.
Journal of Propulsion and Power
Academic article
-
Rezapour, Ehsan;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Hofmann, Andreas.
(2016)
Formation Control of Underactuated Bio-inspired Snake Robots.
Artificial Life and Robotics
Academic article
-
Sadanandan Anand, Akhil;
Kaushik, Rituraj;
Gravdahl, Jan Tommy;
Abu-Dakka, Fares J..
(2024)
Data-Efficient Reinforcement Learning for Variable Impedance Control.
IEEE Access
Academic article
-
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy;
Leang, Kam K..
(2014)
Analog Robust Repetitive Control for Nanopositioning Using Bucket Brigade Devices.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Pham, Cong Dung;
From, Pål Johan;
Gravdahl, Jan Tommy.
(2014)
A Geometric Approach to the Design of Serial and Parallel Manipulators with Passive Joints.
Applied Mathematics
Academic article
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2014)
A waypoint guidance strategy for underwater snake robots.
Mediterranean Conference on Control and Automation (MED)
Academic article
-
Moe, Signe;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2018)
Set-Based Control for Autonomous Spray Painting.
IEEE Transactions on Automation Science and Engineering
Academic article
-
From, Pål Johan;
Gunnar, John;
Gravdahl, Jan Tommy.
(2011)
Optimal Paint Gun Orientation in Spray Paint Applications-Experimental Results.
IEEE Transactions on Automation Science and Engineering
Academic article
-
Messineo, Saverio;
Ragazzon, Michael Remo Palmén;
Busnelli, Fabio;
Gravdahl, Jan Tommy.
(2021)
Analysis of PI-Control for Atomic Force Microscopy in Contact Mode.
IEEE Transactions on Control Systems Technology
Academic article
-
Gravdahl, Jan Tommy;
Egeland, Olav.
(2004)
New undergraduate courses in control.
Control Systems Magazine
Academic article
-
Grøtli, Esten Ingar;
Chaillet, Antoine;
Gravdahl, Jan Tommy.
(2008)
Output Control of Spacecraft in Leader Follower Formation.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Vagia, Marialena;
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2016)
Nonlinear Tracking Control Scheme for a Nanopositioner.
Mediterranean Conference on Control and Automation (MED)
Academic article
-
Hovland, Svein;
Gravdahl, Jan Tommy.
(2008)
Complexity Reduction in Explicit MPC through Model Reduction.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Uddin, Nur;
Gravdahl, Jan Tommy.
(2012)
Introducing Back-up to Active Compressor Surge Control System.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Orucevic, Amer;
Wrzos-Kaminska, Marianna;
Lysø, Mads Erlend Bøe;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Automatic alignment of underwater snake robots operating in wakes of bluff bodies.
Control Engineering Practice
Academic article
-
Vagia, Marialena;
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2013)
Design of a nonlinear damping control scheme for nanopositioning.
IEEE ASME International Conference on Advanced Intelligent Mechatronics
Academic article
-
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2008)
Output attitude tracking of formation of spacecraft.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Kristiansen, Raymond;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2007)
Formation Modelling and 6DOF Spacecraft Coordination Control.
American Control Conference (ACC)
Academic article
-
Ragazzon, Michael Remo Palmén;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad;
Eielsen, Arnfinn Aas.
(2015)
Topography and force imaging in atomic force microscopy by state and parameter estimation.
American Control Conference (ACC)
Academic article
-
Paul, Tobias;
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy.
(2008)
Modelling of UAV formation flight using 3D potential field.
Simulation modelling practice and theory
Academic article
-
Uddin, Nur;
Gravdahl, Jan Tommy.
(2011)
Piston-actuated Active Surge Control of Centrifugal Compressor Including Integral Action.
International Conference on Control, Automation and Systems
Academic article
-
Gravdahl, Jan Tommy;
Egeland, Olav.
(2007)
New undergraduate courses in control.
MIC Journal: Modeling, Identification and Control
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2007)
General solutions to functional and kinematic redundancy.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Bøhagen, Bjørnar;
Gravdahl, Jan Tommy.
(2007)
Circle criterion observer for a compression system.
American Control Conference (ACC)
Academic article
-
Kristiansen, Raymond;
Krogstad, Thomas Røbekk;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2007)
Spacecraft coordination control using PID backstepping.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Borlaug, Ida-Louise Garmann;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2020)
Combined Kinematic and Dynamic Control of Vehicle-Manipulator Systems.
Mechatronics (Oxford)
Academic article
-
Jensen, Kristian;
Yabar, Kaan Husby;
Gravdahl, Jan Tommy.
(2011)
A comparison of attitude deteermination methods: theory and experiments.
Astronautical research : proceedings of the congress of the International Astronautical Federation
Academic article
-
Ragazzon, Michael Remo Palmén;
Gravdahl, Jan Tommy.
(2016)
Imaging Topography and Viscoelastic Properties by Constant Depth Atomic Force Microscopy.
Proceedings of the IEEE Conference on Control Applications
Academic article
-
Arbo, Mathias Hauan;
Gravdahl, Jan Tommy.
(2018)
Stability of the Tracking Problem with Task-Priority Inverse Kinematics.
IFAC-PapersOnLine
Academic article
-
Auestad, Øyvind Fidje;
Gravdahl, Jan Tommy;
Fossen, Thor I..
(2013)
Heave Motion Estimation on a Craft Using a Strapdown Inertial Measurement Unit.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Ragazzon, Michael Remo Palmén;
Vagia, Marialena;
Gravdahl, Jan Tommy.
(2016)
Cell Mechanics Modeling and Identification by Atomic Force Microscopy.
IFAC-PapersOnLine
Academic article
-
Caharija, Walter;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2013)
Path Following of Marine Surface Vessels with Saturated Transverse Actuators.
American Control Conference (ACC)
Academic article
-
Borlaug, Ida-Louise Garmann;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2021)
Comparison of two second-order sliding mode control algorithms for an articulated intervention AUV: Theory and experimental results.
Ocean Engineering
Academic article
-
Eielsen, Arnfinn Aas;
Vagia, Marialena;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2013)
Fixed-Structure, Low-Order Damping and Tracking Control Schemes for Nanopositioning.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Ragazzon, Michael Remo Palmén;
Messineo, Saverio;
Gravdahl, Jan Tommy;
Harcombe, David M.;
Ruppert, Michael G..
(2019)
Generalized Lyapunov Demodulator for Amplitude and Phase Estimation by the Internal Model Principle.
IFAC-PapersOnLine
Academic article
-
Kristiansen, Raymond;
Grøtli, Esten Ingar;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2007)
A model of relative translation and rotation in leader-follower spacecraft formations.
MIC Journal: Modeling, Identification and Control
Academic article
-
Borlaug, Ida-Louise Garmann;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2020)
Tracking control of an articulated intervention autonomous underwater vehicle in 6DOF using generalized super-twisting: Theory and experiments.
IEEE Transactions on Control Systems Technology
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2007)
Representing attitudes as sets of frames.
American Control Conference (ACC)
Academic article
-
Krogstad, Thomas Røbekk;
Kristiansen, Raymond;
Gravdahl, Jan Tommy;
Nicklasson, Per Johan.
(2007)
PID+ backstepping control of relative spacecraft attitude.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Tønnessen, Jonas;
Bryn, Håkon;
Gravdahl, Jan Tommy;
Hassani, Vahid;
Auestad, Øyvind Fidje.
(2018)
Roll damping of a surface effect ship with split air cushion.
IFAC-PapersOnLine
Academic article
-
Jørgensen, Ulrik;
Gravdahl, Jan Tommy.
(2011)
Observer Based Sliding Mode Attitude Control: Theoretical and Experimental Results.
MIC Journal: Modeling, Identification and Control
Academic article
-
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2007)
Passivity based controller-observer schemes for relative translation of a formation of spacecraft.
American Control Conference (ACC)
Academic article
-
Iversflaten, Markus Høgevoll;
Schmidt-Didlaukies, Henrik;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2024)
Centralized Underwater Cooperative Transport with Safety Constraints.
IFAC-PapersOnLine
Academic article
-
Seel, Katrine;
Bemporad, Alberto;
Gros, Sebastien Nicolas;
Gravdahl, Jan Tommy.
(2023)
Variance-Based Exploration for Learning Model Predictive Control.
IEEE Access
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2010)
A hybrid model of obstacle-aided snake robot locomotion.
IEEE International Conference on Robotics and Automation (ICRA)
Academic article
-
Pettersen, Kristin Ytterstad;
Liljebäck, Pål;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2013)
Snake Robots - From Biology to Nonlinear Control.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Borlaug, Ida-Louise Garmann;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2022)
The generalized super-twisting algorithm with adaptive gains.
International Journal of Robust and Nonlinear Control
Academic article
-
Caharija, Walter;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2013)
Path Following of Underactuated Surface Vessels in Presence of Unknown Constant Environmental Forces: Preliminary Results.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Gravdahl, Jan Tommy.
(2006)
Editorial, special Issue SIMS2005.
MIC Journal: Modeling, Identification and Control
Editorial
-
Kristiansen, Bjørn Andreas;
Gravdahl, Jan Tommy;
Johansen, Tor Arne.
(2021)
Energy optimal attitude control for a solar-powered spacecraft.
European Journal of Control
Academic article
-
Schaanning, Sigrid Kjønnø;
Kristiansen, Bjørn Andreas;
Gravdahl, Jan Tommy.
(2022)
Maximum Hands-Off Attitude Control.
American Control Conference (ACC)
Academic article
-
Lundby, Erlend Torje Berg;
Rasheed, Adil;
Halvorsen, Ivar Johan;
Reinhardt, Dirk Peter;
Gros, Sebastien Nicolas;
Gravdahl, Jan Tommy.
(2023)
Deep active learning for nonlinear system identification.
arXiv.org
Academic article
-
Backi, Christoph Josef;
Bendtsen, Jan Dimon;
Leth, John;
Gravdahl, Jan Tommy.
(2014)
Estimation of inner-domain temperatures for a freezing process.
Proceedings of the IEEE Conference on Control Applications
Academic article
-
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy;
Leang, Kam K..
(2012)
Robust Damping PI Repetitive Control for Nanopositioning.
American Control Conference (ACC)
Academic article
-
Evjemo, Linn Danielsen;
Langelandsvik, Geir;
Moe, Signe;
Danielsen, Morten Høgseth;
Gravdahl, Jan Tommy.
(2022)
Wire-arc additive manufacturing of structures with overhang: Experimental results depositing material onto fixed substrate.
CIRP - Journal of Manufacturing Science and Technology
Academic article
-
Arbo, Mathias Hauan;
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2017)
On model predictive path following and trajectory tracking for industrial robots.
IEEE International Conference on Automation Science and Engineering
Academic article
-
Lundby, Erlend Torje Berg;
Rasheed, Adil;
Gravdahl, Jan Tommy;
Halvorsen, Ivar Johan.
(2023)
Sparse deep neural networks for modeling aluminum electrolysis dynamics.
Applied Soft Computing
Academic article
-
Liljeback, Pål;
Stavdahl, Øyvind;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2011)
Two new design concepts for snake robot locomotion in unstructured environments.
Paladyn - Journal of Behavioral Robotics
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2011)
Stability analysis of snake robot locomotion based on averaging theory.
IEEE Conference on Decision and Control. Proceedings
Academic article
-
Auestad, Øyvind Fidje;
Gravdahl, Jan Tommy;
Sørensen, Asgeir Johan;
Halvorsen, Trygve Espeland.
(2013)
Simulator and Control System Design for a Free Floating Surface Effect Ship at Zero Vessel Speed.
Elsevier IFAC Publications / IFAC Proceedings series
Academic literature review
-
Sverdrup-Thygeson, Jørgen;
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2016)
A control framework for biologically inspired underwater swimming manipulators equipped with thrusters.
IFAC-PapersOnLine
Academic article
-
Teo, Yik R.;
Fleming, Andrew J.;
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy.
(2016)
A Simplified Method for Discrete-Time Repetitive Control Using Model-Less Finite Impulse Response Filter Inversion.
Journal of Dynamic Systems Measurement, and Control
Academic article
-
Sverdrup-Thygeson, Jørgen;
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2018)
The underwater swimming manipulator — A bioinspired solution for subsea operations.
IEEE Journal of Oceanic Engineering
Academic article
-
Haugstvedt, Emil Johannesen;
Mino Calero, Alberto;
Lundby, Erlend Torje Berg;
Rasheed, Adil;
Gravdahl, Jan Tommy.
(2023)
A Comparative Study of Sparsity Promoting Techniques in Neural Network for Modeling Non-Linear Dynamics.
IEEE Access
Academic article
-
Wrzos-Kaminska, Marianna;
Sæbø, Bjørn Kåre;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Unifying the Generalized Jacobian Matrix and prioritized task hierarchies, with application to free-floating VMSs.
IFAC-PapersOnLine
Academic article
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2010)
A Real-Time Algorithm to Determine the Optimal Paint Gun Orientation in Spray Paint Applications.
IEEE Transactions on Automation Science and Engineering
Academic article
-
Sverdrup-Thygeson, Jørgen;
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2016)
Modeling of underwater swimming manipulators.
IFAC-PapersOnLine
Academic article
-
Orucevic, Amer;
Lysø, Mads Erlend Bøe;
Schmidt-Didlaukies, Henrik;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2023)
Optimal Positioning of Snake Robots in Vortex Wakes using Extremum-Seeking Control.
IFAC-PapersOnLine
Academic article
-
Dyrhaug, Jan Inge;
Tveter, Erling;
Schmidt-Didlaukies, Henrik;
Basso, Erlend Andreas;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2023)
Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems.
IFAC-PapersOnLine
Academic article
-
Gravdahl, Jan Tommy;
Egeland, Olav;
Vatland, Svein.
(2002)
Drive torque actuation in active surge control of centrifugal compressors.
Automatica
Academic article
-
Gushkov, Ivan Ivanov;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
MPC Path Following with Macroscopic Shape Adjustment for AIAUVs.
IFAC-PapersOnLine
Academic article
-
Tuffaha, Mutaz;
Gravdahl, Jan Tommy.
(2017)
Discrete state-space model to solve the unit commitment and economic dispatch problems.
Energy Systems, Springer Verlag
Academic article
-
Kristiansen, Raymond;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2008)
Spacecraft coordination control in 6DOF: integrator backstepping vs passivity-based control.
Automatica
Academic article
-
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy.
(2006)
Coordinated attitude control of satellites in formation.
Lecture notes in control and information sciences
Academic article
-
Orucevic, Amer;
Wrzos-Kaminska, Marianna;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2023)
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots.
IEEE Transactions on Control Systems Technology
Academic article
-
Kristiansen, Bjørn Andreas;
Langer, Dennis David;
Garrett, Joseph Landon;
Berg, Simen;
Gravdahl, Jan Tommy;
Johansen, Tor Arne.
(2023)
Accuracy of a slew maneuver for the HYPSO-1 hyperspectral imaging satellite — in-orbit results.
Workshop on Hyperspectral Image and Signal Processing, Evolution in Remote Sensing
Academic article
-
Kelasidi, Eleni;
Jesmani, Mansoureh;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2018)
Locomotion efficiency optimization of biologically inspired snake robots.
Applied Sciences
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2011)
Path following control of snake robots in unstructured environments.
IEEE International Conference on Robotics and Automation (ICRA)
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2012)
A review on modelling, implementation, and control of snake robots.
Robotics and Autonomous Systems
Academic article
-
Backi, Christoph Josef;
Bendtsen, Jan Dimon;
Leth, John;
Gravdahl, Jan Tommy.
(2016)
A heat equation for freezing processes with phase change: stability analysis and applications.
International Journal of Control
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2011)
Experimental Investigation of Obstacle-Aided Locomotion With a Snake Robot.
IEEE transactions on robotics and automation
Academic article
-
Ragazzon, Michael Remo Palmén;
Messineo, Saverio;
Gravdahl, Jan Tommy;
Harcombe, David M.;
Ruppert, Michael G..
(2022)
The Generalized Lyapunov Demodulator: High-Bandwidth, Low-Noise Amplitude and Phase Estimation.
IEEE Open Journal of Control Systems
Academic article
-
Rezapour, Ehsan;
Pettersen, Kristin Ytterstad;
Liljebäck, Pål;
Gravdahl, Jan Tommy.
(2014)
Differential Geometric Modelling and Robust Path Following Control of Snake Robots Using Sliding Mode Techniques.
IEEE International Conference on Robotics and Automation (ICRA)
Academic article
-
Arbo, Mathias Hauan;
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2017)
On the globally exponentially convergent immersion and invariance speed observer for mechanical systems.
American Control Conference (ACC)
Academic article
-
Kohl, Anna;
Pettersen, Kristin Ytterstad;
Kelasidi, Eleni;
Gravdahl, Jan Tommy.
(2016)
Planar path following of underwater snake robots in the presence of ocean currents.
IEEE Robotics and Automation Letters
Academic article
-
Golfetto, Cristiana;
Østvik, Andreas;
Brandt, Martin Albertsen;
Perez de Frutos, Javier;
Bø, Lars Eirik;
Grøtli, Esten Ingar;
Vagia, Marialena;
Ening, Klaus;
Tangen, Geir Arne;
Gravdahl, Jan Tommy.
(2023)
Roboter kan bidra til å avlaste et overbelastet helsevesen.
Forskersonen.no
Popular science article
-
From, Pål Johan;
Schjølberg, Ingrid;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad;
Fossen, Thor I..
(2012)
On the Boundedness Property of the Inertia Matrix and Skew-Symmetric Property of the Coriolis Matrix for Vehicle-Manipulator Systems.
Journal of Dynamic Systems Measurement, and Control
Academic article
-
Utstumo, Trygve;
Gravdahl, Jan Tommy.
(2013)
Implementation and Comparison of Attitude Estimation Methods for Agricultural Robotics.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2011)
Controllability and Stability Analysis of Planar Snake Robot Locomotion.
IEEE Transactions on Automatic Control
Academic article
-
Borlaug, Ida-Louise Garmann;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2019)
Tracking control of an articulated intervention AUV in 6DOF using the generalized super-twisting algorithm.
American Control Conference (ACC)
Academic article
-
Backi, Christoph Josef;
Bendtsen, Jan Dimon;
Leth, John;
Gravdahl, Jan Tommy.
(2015)
Stability properties of a heat equation with state-dependent parameters and asymmetric boundary conditions.
IFAC-PapersOnLine
Academic article
-
Stakvik, Jon Åge;
Ragazzon, Michael Remo Palmén;
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy.
(2015)
On implementation of the Preisach model identification and inversion for hysteresis compensation.
MIC Journal: Modeling, Identification and Control
Academic article
-
Onstein, Ingrid Fjordheim;
Linnerud, Ådne Solhaug;
Martinsen, Kristian;
Gravdahl, Jan Tommy.
(2024)
Adaptive Tool Trajectory Generation for Robotic Deburring using Structured Light 3D Camera sensor.
Procedia CIRP
Academic article
-
Tuffaha, Mutaz;
Gravdahl, Jan Tommy.
(2013)
Mixed-Integer Minimization of the Cost function of the Unit Commitment problem for Isolated power systems.
IEEE Conference on Decision and Control. Proceedings
Academic article
-
Kelasidi, Eleni;
Liljebäck, Pål;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2015)
Experimental investigation of efficient locomotion of underwater snake robots for lateral undulation and eel-like motion patterns.
Robotics and Biomimetics
Academic article
-
Bøhagen, Bjørnar;
Gravdahl, Jan Tommy.
(2006)
Active surge control using drive torque; dynamic control laws.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Arbo, Mathias Hauan;
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2017)
Mid-Level MPC and 6 DOF Output Path Following for Robotic Manipulators.
IEEE Control Systems
Academic article
-
Hovland, Svein;
Gravdahl, Jan Tommy.
(2006)
Order Reduction and Output Feedback Stabilization of an Unstable CFD Model.
American Control Conference (ACC)
Academic article
-
Hovland, Svein;
Willcox, Karen E.;
Gravdahl, Jan Tommy.
(2006)
MPC for Large-Scale Systems via Model Reduction and Multiparametric Quadratic Programming.
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
-
Hovland, Svein;
Gravdahl, Jan Tommy.
(2006)
Stabilizing a CFD model of an unstable system through model reduction.
MIC Journal: Modeling, Identification and Control
Academic article
-
Tveter, Erling;
Sæbø, Bjørn Kåre;
Ott, Christian;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2025)
Passive Multi-Task Compliance Control With Strict Priority Through Energy Tanks.
IEEE Robotics and Automation Letters
Academic article
-
Liljebäck, Pål;
Stavdahl, Øyvind;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2012)
A modular and waterproof snake robot joint mechanism with a novel force/torque sensor.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2012)
A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Academic article
-
Foseid, Eirik Lothe;
Basso, Erlend Andreas;
Schmidt-Didlaukies, Henrik;
Marley, Mathias Huuse;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Learning Optimal Guidance Schemes with Safety Guarantees for Underactuated Marine Vehicles.
IFAC-PapersOnLine
Academic article
-
Lundby, Erlend Torje Berg;
Rasheed, Adil;
Gravdahl, Jan Tommy;
Halvorsen, Ivar Johan.
(2021)
A novel hybrid analysis and modeling approach applied to aluminum electrolysis process.
Journal of Process Control
Academic article
-
Backi, Christoph Josef;
Leth, John;
Gravdahl, Jan Tommy.
(2016)
Optimal boundary control of a contact thawing process for foodstuff.
IFAC-PapersOnLine
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2012)
Snake Robot Locomotion in Environments With Obstacles.
IEEE/ASME transactions on mechatronics
Academic article
-
Foseid, Eirik Lothe;
Schmidt-Didlaukies, Henrik;
Basso, Erlend Andreas;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2025)
Line-of-Sight Guidance: Learning to Look Ahead in Three Dimensions.
IEEE Control Systems Letters
Academic article
-
Tuffaha, Mutaz;
Gravdahl, Jan Tommy.
(2014)
Modeling and Control of a Marine Diesel Engine driving a Synchronous machine and a Propeller.
Proceedings of the IEEE Conference on Control Applications
Academic article
-
Backi, Christoph Josef;
Gravdahl, Jan Tommy;
Skogestad, Sigurd.
(2018)
Simple method for parameter identification of a nonlinear Greitzer compressor model.
IFAC-PapersOnLine
Academic article
-
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2012)
Adaptive feed-forward hysteresis compensation for piezoelectric actuators.
Review of Scientific Instruments
Academic article
-
Tuffaha, Mutaz;
Gravdahl, Jan Tommy.
(2015)
Control-oriented model of a generating set comprising a diesel engine and a synchronous generator.
MIC Journal: Modeling, Identification and Control
Academic article
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Liljebäck, Pål;
Gravdahl, Jan Tommy.
(2014)
Integral Line-of-Sight for path following of underwater snake robots.
Proceedings of the IEEE Conference on Control Applications
Academic article
-
Gravdahl, Jan Tommy;
Egeland, Olav.
(1999)
Centrifugal compressor surge and speed control.
IEEE Transactions on Control Systems Technology
Academic article
-
Backi, Christoph Josef;
Gravdahl, Jan Tommy;
Skogestad, Sigurd.
(2020)
Combined state and parameter estimation for not fully observable dynamic systems.
IFAC Journal of Systems and Control
Academic article
-
Gravdahl, Jan Tommy;
Egeland, Olav.
(1998)
Speed and surge control for a low order centrifugal compressor model.
MIC Journal: Modeling, Identification and Control
Academic article
-
Moe, Signe;
Pettersen, Kristin Ytterstad;
Fossen, Thor I.;
Gravdahl, Jan Tommy.
(2016)
Line-of-sight curved path following for underactuated USVs and AUVs in the horizontal plane under the influence of ocean currents.
IEEE Mediterranean Conference on Control & Automation
Academic article
-
Basso, Erlend Andreas;
Schmidt-Didlaukies, Henrik;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2023)
Synergistic PID and Output Feedback Control on Matrix Lie Groups.
IFAC-PapersOnLine
Academic article
-
Borlaug, Ida-Louise Garmann;
Sverdrup-Thygeson, Jørgen;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2019)
Combined kinematic and dynamic control of an underwater swimming manipulator.
IFAC-PapersOnLine
Academic article
-
Rahmanpour, Parsa;
Bones, John Atle;
Hovd, Morten;
Gravdahl, Jan Tommy.
(2013)
Linear and Nonlinear State Estimation in the Czochralski Process.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
From, Pål Johan;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2011)
Singularity-free dynamic equations of spacecraft-manipulator systems.
Acta Astronautica
Academic article
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2010)
A simplified model of planar snake robot locomotion.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Academic article
-
Hegrenæs, Øyvind;
Gravdahl, Jan Tommy;
Tøndel, Johan Petter.
(2005)
Attitude Control by means of Explicit Model Predictive Control, via Multi-parametric Quadratic Programming.
American Control Conference (ACC)
Academic article
-
Kristiansen, Raymond;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2005)
Satellite attitude tracking by quaternion-based backstepping.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Rezapour, Ehsan;
Pettersen, Kristin Ytterstad;
Liljebäck, Pål;
Gravdahl, Jan Tommy;
Kelasidi, Eleni.
(2014)
Path following control of planar snake robots using virtual holonomic constraints: theory and experiments.
Robotics and Biomimetics
Academic article
-
Langer, Dennis David;
Garrett, Joseph Landon;
Kristiansen, Bjørn Andreas;
Bakken, Sivert;
Berg, Simen;
Birkeland, Roger;
Gravdahl, Jan Tommy;
Johansen, Tor Arne;
Sørensen, Asgeir Johan.
(2024)
Agile Maneuvers for Push-Broom Imaging Satellites.
IEEE Transactions on Geoscience and Remote Sensing
Academic article
-
Liljebäck, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2013)
Lateral undulation of snake robots: A simplified model and fundamental properties.
Robotica (Cambridge. Print)
Academic article
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Kohl, Anna M;
Gravdahl, Jan Tommy.
(2017)
An Experimental Investigation of Path Following for an Underwater Snake Robot with a Caudal Fin.
IFAC-PapersOnLine
Academic article
Books
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2009)
Proceedings IEEE International Conference on Intelligent Robots and Systems.
IEEE (Institute of Electrical and Electronics Engineers)
Anthology
-
Gravdahl, Jan Tommy;
Egeland, Olav.
(1998)
Compressor surge and rotating stall: Modeling and control.
Springer
Non-fiction monograph
-
From, Pål Johan;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2014)
Vehicle-Manipulator Systems.
Springer
Academic monograph
-
Egeland, Olav;
Gravdahl, Jan Tommy.
(2002)
Modeling and simulation for automatic control.
Marine Cybernetics
Textbook
-
Amundsen, Jørn Aslak;
Andersson, Helge Ingolf;
Celledoni, Elena;
Gravdahl, Jan Tommy;
Nagel, Henrik;
Natvig, Thorvald.
(2005)
SIMS 2005 46th Conference on Simulation and Modeling.
Tapir Akademisk Forlag
Anthology
-
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Nijmeijer, Henk.
(2006)
Group Coordination and Cooperative Control.
Springer
Anthology
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2013)
Snake Robots - Modelling, Mechatronics, and Control.
Springer
Academic monograph
Part of book/report
-
Gushkov, Ivan Ivanov;
Schmidt-Didlaukies, Henrik;
Lysø, Mads Erlend Bøe;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Köhler, Matthias;
Mair, Jonas.
(2025)
Recursively Feasible MPC for Underactuated Euler-Lagrange Systems with Application to Snake Robot Locomotion.
Academic chapter
-
Gushkov, Ivan Ivanov;
Hoff, Simon Andreas Hagen;
Orucevic, Amer;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2025)
Sparse Reconstruction of Forces, Torques, and Velocity Signals for a Swimmer in a Wake.
Academic chapter
-
Hua, Minh Tuan;
Gravdahl, Jan Tommy;
Sanfilippo, Filippo.
(2025)
Impedance Control for Robots with Mixed Rigid-Elastic Joints Using Sliding Mode Control.
Academic chapter
-
Utstumo, Trygve;
Dørum, Jarle;
Gravdahl, Jan Tommy.
(2015)
Experimental comparison of adaptive controllers for trajectory tracking in agricultural robotics.
Academic chapter
-
Kohl, Anna;
Pettersen, Kristin Ytterstad;
Kelasidi, Eleni;
Gravdahl, Jan Tommy.
(2015)
Analysis of underwater snake robot locomotion based on a control-oriented model.
Academic chapter
-
Grøtli, Esten Ingar;
Chaillet, Antoine;
Panteley, Elena;
Gravdahl, Jan Tommy.
(2010)
Robustness of ISS Systems to Inputs with Limited Moving Average, with Application to Spacecraft Formations.
Academic chapter
-
Caharija, Walter;
Sørensen, Asgeir Johan;
Pettersen, Kristin Ytterstad;
Greco, Marilena;
Gravdahl, Jan Tommy.
(2019)
Path Following Control of Underactuated Surface Vessels in the Presence of Multiple Disturbances.
Academic chapter
-
Urdal, Frode;
Utstumo, Trygve;
Vatne, Jan Kåre;
Ellingsen, Simen Andreas Ådnøy;
Gravdahl, Jan Tommy.
(2014)
Design and control of precision drop-on-demand herbicide application in agricultural robotics.
Academic chapter
-
Nicolai, Tim;
Haring, Mark;
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy;
Reger, Johann.
(2023)
Realizing LTI models by identifying characteristic parameters using least squares optimization.
Academic chapter
-
Kristiansen, Raymond;
Grøtli, Esten Ingar;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2005)
A model of relative position and attitude in a leader-follower spacecraft formation.
Academic chapter
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Liljebäck, Pål;
Gravdahl, Jan Tommy.
(2016)
Locomotion Efficiency of Underwater Snake Robots with Thrusters.
Academic chapter
-
Kelasidi, Eleni;
Kohl, Anna Magdalena;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2016)
Waypoint guidance control for underwater snake robots exposed to ocean currents.
Academic chapter
-
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy.
(2009)
Output feedback control of relative spacecraft attitude.
Academic chapter
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2009)
Real-time Optimal Trajectory Planning for Robotic Manipulators with Functional Redundancy.
Academic chapter
-
Kohl, Anna M;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2017)
Velocity and orientation control of underwater snake robots using absolute velocity feedback.
Academic chapter
-
From, Pål Johan;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2011)
A Singularity Free Formulation of the Dynamically Equivalent Manipulator Mapping of Space Manipulators.
Academic chapter
-
Holden, Christian;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2013)
Optimal Mapping from a Continuous 3D Curve to the Position and Shape of a Snake Robot.
Academic chapter
-
Uddin, Nur;
Gravdahl, Jan Tommy.
(2011)
Active compressor surge control using piston actuation.
Academic chapter
-
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2008)
Formation Control by Quantized Output Feedback.
Academic chapter
-
Liljebäck, Pål;
Stavdahl, Øyvind;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2014)
Mamba - A waterproof snake robot with tactile sensing.
Academic chapter
-
Wrzos-Kaminska, Marianna;
Mylvaganam, Thulasi;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2020)
Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV.
Academic chapter
-
Auestad, Øyvind Fidje;
Perez, Tristan;
Gravdahl, Jan Tommy;
Sørensen, Asgeir Johan;
Espeland, Trygve H..
(2015)
Boarding Control System - for Improved Accessibility to Offshore Wind Turbines.
Academic chapter
-
Lysø, Mads Erlend Bøe;
Panteley, Elena;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Orbital Control for Swimming in Underwater Snake Robots using
Energy-Shaping and Consensus Control.
Academic chapter
-
Utstumo, Trygve;
Dørum, Jarle;
Arbo, Mathias Hauan;
Berge, Therese W.;
Goldberg, Steve;
Overskeid, Øyvind;
Gravdahl, Jan Tommy.
(2015)
Asterix - Automatisk ugraskontroll i radkulturer.
Non-fiction chapter
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2011)
Experimental investigation of fundamental properties of snake robot locomotion.
Academic chapter
-
Foseid, Eirik Lothe;
Basso, Erlend Andreas;
Schmidt-Didlaukies, Henrik;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Model Predictive Task-Priority Control using Control Lyapunov Functions.
Academic chapter
-
Hovland, Svein;
Gravdahl, Jan Tommy.
(2005)
Stabilizing a CFD model of an unstable system.
Academic chapter
-
Orucevic, Amer;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad;
Chaillet, Antoine.
(2022)
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots.
Academic chapter
-
Hassani, Vahid;
Fjellvang, Snorre Ludvig;
Auestad, Øyvind Fidje;
Gravdahl, Jan Tommy.
(2019)
Adaptive Boarding Control System in Surface Effect Ships.
Academic chapter
-
Evjemo, Linn Danielsen;
Moe, Signe;
Gravdahl, Jan Tommy;
Roulet-Dubonnet, Olivier;
Gellein, Lars Tore;
Brøtan, Vegard.
(2017)
Additive manufacturing by robot manipulator: An overview of the state-of-the-art and proof-of-concept results.
Academic chapter
-
Liljebäck, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2014)
Compliant Control of the Body Shape of Snake Robots.
Academic chapter
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Liljebäck, Pål.
(2014)
Modeling of underwater snake robots.
Academic chapter
-
Astad, Morten Andre;
Arbo, Mathias Hauan;
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2019)
Vive for Robotics: Rapid Robot Cell Calibration.
Academic chapter
-
Liljebäck, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2014)
A 3D motion planning framework for snake robots.
Academic chapter
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Strømsøyen, Simen;
Sørensen, Asgeir Johan.
(2017)
Modeling and Propulsion Methods of Underwater Snake Robots.
Academic chapter
-
Backi, Christoph Josef;
Gravdahl, Jan Tommy.
(2013)
Optimal boundary control for the heat equation with application to freezing with phase change.
Academic chapter
-
Sverdrup-Thygeson, Jørgen;
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2016)
The Underwater Swimming Manipulator - A Bio-Inspired AUV.
Academic chapter
-
Rezapour, Ehsan;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Liljebäck, Pål.
(2014)
Body Shape and Orientation Control for Locomotion of Biologically-Inspired Snake Robots.
Academic chapter
-
Sæbø, Bjørn Kåre;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2022)
Robust Task-Priority Impedance Control for Vehicle-Manipulator Systems.
Academic chapter
-
Borlaug, Ida-Louise Garmann;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2020)
The generalized super-twisting algorithm with adaptive gains.
Academic chapter
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2009)
Controllability analysis of planar snake robots influenced by viscous ground friction.
Academic chapter
-
Eielsen, Arnfinn Aas;
poloni, tomas;
Johansen, Tor Arne;
Gravdahl, Jan Tommy.
(2011)
Experimental Comparison of Online Parameter Identification Schemes for a Nanopositioning Stage with Variable Mass.
Academic chapter
-
Backi, Christoph Josef;
Gravdahl, Jan Tommy.
(2012)
Modeling of Freezing of Fish by Vertical Plate Freezers.
Academic chapter
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2009)
Stability analysis of snake robot locomotion based on Poincaré maps.
Academic chapter
-
Kohl, Anna M;
Moe, Signe;
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2017)
Set-based path following and obstacle avoidance for underwater snake robots.
Academic chapter
-
Hovd, Morten;
Foss, Bjarne Anton;
Gravdahl, Jan Tommy.
(2004)
Future need for Information and Communication Technology in the areas of Production, Transportation and Utilisation of Natural Gas.
Academic chapter
-
Kohl, Anna;
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2015)
A control-oriented model of underwater snake robots exposed to currents.
Academic chapter
-
Uddin, Nur;
Gravdahl, Jan Tommy.
(2012)
Bond graph modeling of centrifugal compressor system.
Academic chapter
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2014)
Stability Analysis of Underwater Snake Robot Locomotion Based on Averaging Theory.
Academic chapter
-
D'Antuono, Gianluca;
Pettersen, Kristin Ytterstad;
Buonocore, Luca Rosario;
Gravdahl, Jan Tommy;
Castro, Mario Di.
(2023)
Dynamic model of a tendon-actuated snake robot using the Newton-Euler formulation.
Academic chapter
-
Haugaløkken, Bent Oddvar Arnesen;
Amundsen, Herman Biørn;
Fadum, Håkon Syverud;
Gravdahl, Jan Tommy;
Ohrem, Sveinung Johan.
(2023)
Adaptive Generalized Super-Twisting Tracking Control of an Underwater Vehicle.
Academic chapter
-
Johannessen, Lill Maria Gjerde;
Arbo, Mathias Hauan;
Gravdahl, Jan Tommy.
(2019)
Robot Dynamics with URDF & CasADi.
Academic chapter
-
Sadanandan Anand, Akhil;
Myrestrand, Martin Hagen;
Gravdahl, Jan Tommy.
(2022)
Evaluation of Variable Impedance-and Hybrid Force/MotionControllers for Learning Force Tracking Skills.
Academic chapter
-
Paul, Tobias;
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy.
(2008)
UAV Formation Flight using 3D Potential Field.
Academic chapter
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2010)
Fundamental properties of snake robot locomotion.
Academic chapter
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2010)
Experimental investigation of fundamental properties of snake robot locomotion.
Academic chapter
-
Gushkov, Ivan Ivanov;
Orucevic, Amer;
Pettersen, Kristin Ytterstad;
Yao, Weijia;
Gravdahl, Jan Tommy.
(2023)
Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots.
Academic chapter
-
Liljeback, Pål;
Pettersen, Kristin Ytterstad;
Stavdahl, Øyvind;
Gravdahl, Jan Tommy.
(2010)
A simplified model of planar snake robot locomotion.
Academic chapter
-
Nygren, Martin;
Birkeland, Roger;
Gravdahl, Jan Tommy.
(2013)
Using independent combinations of CubeSat solar panels as sun sensors for separating inbound sunlight information.
Academic chapter
-
Krogstad, Thomas R.;
Kristiansen, Raymond;
Gravdahl, Jan Tommy;
Nicklasson, Per Johan.
(2007)
PID+ backstepping control of relative spacecraft attitude.
Academic chapter
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2008)
On the Equivalence of Orientation Error and Positive Definiteness of Matrices.
Academic chapter
-
Moltumyr, Andreas Hanssen;
Arbo, Mathias Hauan;
Gravdahl, Jan Tommy.
(2021)
Output Maneuvering for Cartesian 3D Printer.
Academic chapter
-
D'Antuono, Gianluca;
Pettersen, Kristin Ytterstad;
Buonocore, Luca Rosario;
Gravdahl, Jan Tommy;
Castro, Mario Di.
(2024)
Path Following Control of a Tendon-Actuated Snake Robot with Rolling Joints.
Academic chapter
-
Uddin, Nur;
Gravdahl, Jan Tommy.
(2017)
Compressor Surge Control Design Using Linear Matrix Inequality Approach.
Academic chapter
-
Frida, Viset;
Gravdahl, Jan Tommy;
Kok, Manon.
(2021)
Magnetic field norm SLAM using Gaussian process regression in
foot-mounted sensors.
Academic chapter
-
Grøtli, Esten Ingar;
Chaillet, Antoine;
Panteley, Elena;
Gravdahl, Jan Tommy.
(2011)
Optimal controller gain tuning for robust stability of spacecraft formation.
Academic chapter
-
Sterud, Camilla;
Moe, Signe;
Gravdahl, Jan Tommy.
(2021)
Stable and robust neural network controllers.
Academic chapter
-
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy;
Tøndel, Johan Petter.
(2005)
Attitude control and stability analysis of satellites in earth and moon orbit.
Academic chapter
-
Sadanandan Anand, Akhil;
Østvik, Andreas;
Grøtli, Esten Ingar;
Vagia, Marialena;
Gravdahl, Jan Tommy.
(2021)
Real-time temporal adaptation of dynamic movement primitives for moving targets.
Academic chapter
-
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy;
Kristiansen, Raymond.
(2005)
Coordinated control of satellites: the attitude case.
Academic chapter
-
Sunde, Bernt-Ove;
Gravdahl, Jan Tommy.
(2005)
Attitude Determination for the student satellite nCubeII: Kalman Filter.
Academic chapter
-
Kelasidi, Eleni;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2014)
A Control-Oriented Model of Underwater Snake Robots.
Academic chapter
-
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy;
Tøndel, Johan Petter.
(2005)
Explicit model predictive control of a satellite with magnetic torquers.
Academic chapter
-
Rezapour, Ehsan;
Pettersen, Kristin Ytterstad;
Liljebäck, Pål;
Gravdahl, Jan Tommy.
(2013)
Path Following Control of Planar Snake Robots Using Virtual Holonomic Constraints.
Academic chapter
-
Grøtli, Esten Ingar;
Brandt, Martin Albertsen;
Arbo, Mathias Hauan;
Onstein, Ingrid Fjordheim;
Mohammed, Ahmed Kedir;
Gravdahl, Jan Tommy.
(2024)
Sensor‑guided motions for manipulators in manufacturing.
Academic chapter
-
Tuffaha, Mutaz;
Gravdahl, Jan Tommy.
(2015)
Dynamic Formulation of the Unit Commitment and Economic Dispatch problems.
Academic chapter
-
Auestad, Øyvind Fidje;
Gravdahl, Jan Tommy;
Sørensen, Asgeir Johan;
Espeland, Trygve H..
(2014)
Motion Compensation System for a Free Floating Surface Effect Ship.
Academic chapter
-
Gale, Serge;
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy.
(2015)
Modelling and simulation of a flywheel based energy storage system for an industrial manipulator.
Academic chapter
-
Utstumo, Trygve;
Berge, Therese W.;
Gravdahl, Jan Tommy.
(2015)
Non-linear model predictive control for constrained robot navigation in row crops.
Academic chapter
-
Sverdrup-Thygeson, Jørgen;
Moe, Signe;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2017)
Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks.
Academic chapter
-
Olsen, Jørgen Anker;
Grøtte, Mariusz Eivind Santora;
Gravdahl, Jan Tommy.
(2021)
Attitude determination and control system testbed for hardware and software testing and validation for HYPSO small satellites.
Academic chapter
-
Sadanandan Anand, Akhil;
Reinhardt, Dirk Peter;
Sawant, Shambhuraj Vijaysinh;
Gravdahl, Jan Tommy;
Gros, Sebastien Nicolas.
(2023)
A Painless Deterministic Policy Gradient Method for Learning-based MPC.
Academic chapter
-
Gale, Serge;
Vestheim, Siri;
Gravdahl, Jan Tommy;
Fjerdingen, Sigurd Aksnes;
Schjølberg, Ingrid.
(2013)
RBF Network Pruning Techniques for Adaptive Learning Controllers.
Academic chapter
-
Evjemo, Linn Danielsen;
Hassel, Trond Arne;
Njaastad, Eirik B;
Adel, Salar;
Onstein, Ingrid Fjordheim;
Arbo, Mathias Hauan;
Brøtan, Vegard;
Cibicik, Andrej;
Gravdahl, Jan Tommy.
(2024)
Possibilities and challenges of using robot manipulators in additive manufacturing (AM).
Academic chapter
-
Moltumyr, Andreas Hanssen;
Arbo, Mathias Hauan;
Gravdahl, Jan Tommy.
(2020)
Towards Vision-based Closed-loop Additive Manufacturing: A Review.
Academic chapter
-
Backi, Christoph Josef;
Gravdahl, Jan Tommy;
Grøtli, Esten Ingar.
(2013)
Nonlinear observer design for a Greitzer compressor model.
Academic chapter
Report
-
Gravdahl, Jan Tommy.
(2004)
Kybernetikk Introduksjon: Innføring i dynamikk og reguleringsteknikk.
Institutt for teknisk kybernetikk
Working paper
-
Gravdahl, Jan Tommy.
(2005)
Kybernetikk Introduksjon: Innføring i dynamikk og reguleringsteknikk.
Tapir Akademisk Forlag
Working paper
-
Kristiansen, Raymond;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2004)
Satellite attitude tracking by quaternion-based backstepping.
Høgskolen i Narvik
Research report
-
Gravdahl, Jan Tommy.
(2011)
Kybernetikk Introduksjon: Innføring i dynamikk og reguleringsteknikk.
Tapir Akademisk Forlag
Working paper
-
Egeland, Olav;
Gravdahl, Jan Tommy.
(2001)
Modeling and Simulation for Control.
Institutt for teknisk kybernetikk, NTNU
Working paper
-
Kristiansen, Raymond;
Grøtli, Esten Ingar;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2005)
A model of relative position and attitude in a leader-follower spacecraft formation.
Høgskolen i Narvik
Research report
-
Kristiansen, Raymond;
Nicklasson, Per Johan;
Gravdahl, Jan Tommy.
(2005)
Satellite attitude control by quaternion-based backstepping.
Høgskolen i Narvik
Research report
Student thesis or dissertation
-
Lysø, Mads Erlend Bøe;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy;
Orucevic, Amer.
(2026)
Energy Harvesting and Phase-Invariant Locomotion Control for Underwater Snake Robots.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Wrzos-Kaminska, Marianna;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2025)
Nonlinear Control of Articulated Intervention-AUVs and Underwater Snake Robots.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Hovland, Svein;
Gravdahl, Jan Tommy.
(2008)
Model Reduction and Control in Computational Fluid Dynamics.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Gravdahl, Jan Tommy.
(1998)
Modeling and control of surge and rotating stall in compressors.
Institutt for teknisk kybernetikk, NTNU
Doctoral thesis
-
Seel, Katrine;
Gravdahl, Jan Tommy;
Gros, Sebastien Nicolas;
Grøtli, Esten Ingar;
Pettersen, Kristin Ytterstad;
Moe, Signe.
(2023)
Learning for Model Predictive Control.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Backi, Christoph Josef;
Gravdahl, Jan Tommy.
(2015)
Modeling, Estimation and Control of Freezing and Thawing Processes: Theory and Applications.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Bøhagen, Bjørnar;
Gravdahl, Jan Tommy.
(2007)
Active surge control of centrifugal compression systems: Theoretical and experimental results of drive actuation.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Kristiansen, Bjørn Andreas;
Gravdahl, Jan Tommy;
Johansen, Tor Arne.
(2023)
Energy and time optimal spacecraft attitude control and operations.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Ragazzon, Michael Remo Palmén;
Gravdahl, Jan Tommy;
Pettersen, Kristin Ytterstad.
(2018)
Parameter Estimation in Atomic Force Microscopy: Nanomechanical Properties and High-speed Demodulation.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Grøtli, Esten Ingar;
Gravdahl, Jan Tommy.
(2010)
Robust stability and control of spacecraft formations.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
From, Pål Johan;
Gravdahl, Jan Tommy.
(2010)
Robust and Optimal Solutions for Autonomous Operation.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Krogstad, Thomas Røbekk;
Gravdahl, Jan Tommy;
Kristiansen, Raymond.
(2005)
Attitude control of satellites in clusters.
Tapir trykk
Master thesis
-
Eielsen, Arnfinn Aas;
Gravdahl, Jan Tommy.
(2012)
Topics in Control of Nanopositioning Devices.
Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
-
Topland, Morten Pedersen;
Gravdahl, Jan Tommy.
(2004)
Nonlinear Attitude Control of the Micro-Satellite ESEO.
NTNU
Master thesis
-
Moltumyr, Andreas Hanssen;
Gravdahl, Jan Tommy;
Ragazzon, Michael Remo Palmén.
(2019)
Control in Atomic Force Microscopy: A Fractional Order Approach.
Norges teknisk-naturvitenskapelige universitet
Master thesis
Outreach
2026
-
Conference lectureAmundsen, Herman Biørn; Tholo, Tuva; Gravdahl, Jan Tommy. (2026) Coverage Planning for Automated ROV Inspections of Aquaculture Net Pens. European Robotics Forum 2026
2025
-
Conference lectureGushkov, Ivan Ivanov; Schmidt-Didlaukies, Henrik; Lysø, Mads Erlend Bøe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Köhler, Matthias; Mair, Jonas. (2025) Recursively Feasible MPC for Underactuated Euler-Lagrange Systems with Application to Snake Robot Locomotion. 2025 IEEE 64th Conference on Decision and Control (CDC), Rio de Janeiro, Brazil, December 9-12, 2025
-
Conference lectureKristiansen, Bjørn Andreas; Berg, Simen; Gravdahl, Jan Tommy; Johansen, Tor Arne. (2025) Integrating Energy Optimal Control into the Planning Loop for Agile Satellites. 14th International Workshop on Planning & Scheduling for Space
2024
-
Conference lectureGushkov, Ivan Ivanov; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) MPC Path Following with Macroscopic Shape Adjustment for AIAUVs. IFAC CAMS
-
Conference lectureOrucevic, Amer; Foseid, Eirik Lothe; Lysø, Mads Erlend Bøe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Nonlinear model predictive control for sinusoidal gait tracking for an underwater snake robot. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, 2024
-
Conference posterDyrhaug, Jan Inge; Foseid, Eirik Lothe; Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Super-Twisting Impedance Control for Robust and Compliant Interaction using a Redundant Robot Manipulator. 4th Modeling, Estimation and Control Conference (MECC)
-
Conference lectureDyrhaug, Jan Inge; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Robust Interaction using Generalized Super-Twisting Impedance Control. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles (CAMS) 2024
-
Conference lectureTveter, Erling; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Power-Based Safety Constraint for Redundant Robotic Manipulators. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles CAMS 2024
-
Conference lectureSæbø, Bjørn Kåre; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2024) Kinematic Task-Priority Path Following for Articulated Marine Vehicles. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles CAMS 2024
-
Conference lectureFoseid, Eirik Lothe; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Line-of-Sight Guidance: Learning to Look Ahead. 2024 IEEE OES Autonomous Underwater Vehicle Symposium (AUV)
-
Conference lectureLysø, Mads Erlend Bøe; Panteley, Elena; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Orbital Control for Swimming in Underwater Snake Robots using Energy-Shaping and Consensus Control. 2024 IEEE 63rd Conference on Decision and Control (CDC)
-
Conference lectureLysø, Mads Erlend Bøe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Energy-Shaping Control for Swimming in Underwater Snake Robots. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, 2024
-
Conference lectureWrzos-Kaminska, Marianna; Sæbø, Bjørn Kåre; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Unifying the Generalized Jacobian Matrix and prioritized task hierarchies, with application to free-floating VMSs. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles (CAMS 2024)
-
Conference lectureFoseid, Eirik Lothe; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Marley, Mathias Huuse; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Learning Optimal Guidance Schemes with Safety Guarantees for Underactuated Marine Vehicles. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, 2024
2023
-
Conference lectureKristiansen, Bjørn Andreas; Gravdahl, Jan Tommy. (2023) Maximum Hands-Off Attitude Control of a Spacecraft Actuated by Thrusters. 22nd IFAC World Congress
-
Conference posterKristiansen, Bjørn Andreas; Langer, Dennis David; Garrett, Joseph Landon; Berg, Simen; Gravdahl, Jan Tommy; Johansen, Tor Arne. (2023) Accuracy of a slew maneuver for the HYPSO-1 hyperspectral imaging satellite — in-orbit results. 13th Workshop on Hyperspectral Image and Signal Processing: Evolution in Signal Processing
-
Conference lectureKristiansen, Bjørn Andreas; Gravdahl, Jan Tommy; Gros, Sebastien Nicolas; Johansen, Tor Arne. (2023) Energy optimal attitude control of a satellite actuated by magnetorquers in minimum time. 7th IEEE Conference on Control Technology and Applications
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Conference lectureHaugaløkken, Bent Oddvar Arnesen; Amundsen, Herman Biørn; Fadum, Håkon Syverud; Gravdahl, Jan Tommy; Ohrem, Sveinung Johan. (2023) Adaptive Generalized Super-Twisting Tracking Control of an Underwater Vehicle. 7th IEEE Conference on Control Technology and Applications
-
Conference lectureNicolai, Tim; Haring, Mark; Grøtli, Esten Ingar; Gravdahl, Jan Tommy; Reger, Johann. (2023) Realizing LTI models by identifying characteristic parameters using least squares optimization. European Control Conference
-
Conference lectureIversflaten, Markus Høgevoll; Sæbø, Bjørn Kåre; Basso, Erlend Andreas; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Task-Priority Operational Space Control for Vehicle-Manipulator Systems with Modelling Errors. 22nd IFAC World Congress
-
Conference lectureGushkov, Ivan Ivanov; Orucevic, Amer; Pettersen, Kristin Ytterstad; Yao, Weijia; Gravdahl, Jan Tommy. (2023) Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots. IEEE CCTA
-
Conference lectureDyrhaug, Jan Inge; Tveter, Erling; Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2023) Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems. IFAC World Congress 2023
-
Conference lectureNysæther, Torje; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Hierarchical Compliance-Control-Based Docking of a UVMS. OCEANS 2023 Gulf Coast
-
Conference lectureGrøtte, Mariusz Eivind Santora; Gravdahl, Jan Tommy; Johansen, Tor Arne. (2023) A Constrained Control Allocation and Tuning Scheme for Hybrid Actuators in Spacecraft Attitude Control. IFAC World Congress
-
Conference lectureSeel, Katrine; Gros, Sebastien Nicolas; Gravdahl, Jan Tommy. (2023) Combining Q-learning and Deterministic Policy Gradient for Learning-Based MPC. IEEE Conference on Decision and Control
-
Conference lectureOrucevic, Amer; Lysø, Mads Erlend Bøe; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Optimal Positioning of Snake Robots in Vortex Wakes using Extremum-Seeking Control. 22nd IFAC World Congress
-
Conference lectureBasso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Synergistic PID and Output Feedback Control on Matrix Lie Groups. 12th IFAC Symposium on Nonlinear Control Systems
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LectureLundby, Erlend Torje Berg; Robinson, Haakon Rennesvik; Rasheed, Adil; Gravdahl, Jan Tommy; Halvorsen, Ivar Johan. (2023) Sparse neural networks with skip-connections for identification of aluminum electrolysis cell. IEEE CDC 2023
-
Conference lectureSadanandan Anand, Akhil; Sawant, Shambhuraj Vijaysinh; Gros, Sebastien Nicolas; Gravdahl, Jan Tommy. (2023) A Painless Deterministic Policy Gradient Method for Learning-based MPC. ECC 2023
2022
-
Conference lectureOrucevic, Amer; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Chaillet, Antoine. (2022) Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots. The 2022 Conference on Control Technology and Applications
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Conference lectureSæbø, Bjørn Kåre; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2022) Robust Task-Priority Impedance Control for Vehicle-Manipulator Systems. 2022 IEEE Conference on Control Technology and Applications (CCTA)
-
Conference lectureSadanandan Anand, Akhil; Gravdahl, Jan Tommy; Kveen, Jens Erik; Grøtli, Esten Ingar; Abu-Dakka, Fares. (2022) Addressing Sample Efficiency and Model-bias in Model-based Reinforcement Learning. ICMLA 2022 : IEEE International conference on Machine Learning and Applications
-
Conference lectureSadanandan Anand, Akhil; Gravdahl, Jan Tommy; Myrestrand, Martin Hagen. (2022) Evaluation of Variable Impedance-and Hybrid Force/MotionControllers for Learning Force Tracking Skills. 2022 IEEE/SICE International Symposium on System Integration
2021
-
Conference lectureKristiansen, Bjørn Andreas; Gravdahl, Jan Tommy; Johansen, Tor Arne. (2021) Energy optimal attitude control for a solar-powered spacecraft. European Control Conference 2021
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Conference lectureSeel, Katrine; Haring, Mark; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2021) Learning-based Robust Model Predictive Control for Sector-bounded Lur'e Systems. Modelling, Estimation and Control Conference (MECC)
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Conference lectureSeel, Katrine; Grøtli, Esten Ingar; Moe, Signe; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2021) Neural Network-based Model Predictive Control with Input-to-State Stability. American Control Conference (ACC)
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Conference lectureSterud, Camilla; Moe, Signe; Gravdahl, Jan Tommy. (2021) Stable and robust neural network controllers. European Control Conference
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Conference lectureMoltumyr, Andreas Hanssen; Arbo, Mathias Hauan; Gravdahl, Jan Tommy. (2021) Output Maneuvering for Cartesian 3D Printer. European Control Conference
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Conference lectureFrida, Viset; Gravdahl, Jan Tommy; Kok, Manon. (2021) Magnetic field norm SLAM using Gaussian process regression in foot-mounted sensors. European Control Conference (ECC)
2020
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Conference lectureBorlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) The generalized super-twisting algorithm with adaptive gains. 2020 European Control Conference
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Conference lectureArbo, Mathias Hauan; Eriksen, Ivar; Sanfilippo, Filippo; Gravdahl, Jan Tommy. (2020) Comparison of KVP and RSI for Controlling KUKA Robots Over ROS. IFAC World Congress
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Conference lectureEvjemo, Linn Danielsen; Moe, Signe; Gravdahl, Jan Tommy. (2020) Robotised Wire Arc Additive Manufacturing Using Set-based Control: Experimental Results. IFAC World Congress
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Conference lectureMoltumyr, Andreas Hanssen; Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy. (2020) Fractional-order Control: Nyquist Constrained Optimization. IFAC World Congress
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Conference lectureKristiansen, Bjørn Andreas; Grøtte, Mariusz Eivind; Gravdahl, Jan Tommy. (2020) Quaternion-Based Generalized Super-Twisting Algorithm for Spacecraft Attitude Control. IFAC World Congress
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Conference lectureMoltumyr, Andreas Hanssen; Arbo, Mathias Hauan; Gravdahl, Jan Tommy. (2020) Towards Vision-based Closed-loop Additive Manufacturing: A Review. 3rd International Symposium on Small-scale Intelligent Manufacturing Systems
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Conference lectureGrøtte, Mariusz Eivind; Gravdahl, Jan Tommy; Johansen, Tor Arne; Larsen, Jesper A; Vidal, Edgar M; Surma, Egidijus. (2020) Spacecraft Attitude and Angular Rate Tracking using Reaction Wheels and Magnetorquers. IFAC World Congress
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Conference lectureWrzos-Kaminska, Marianna; Mylvaganam, Thulasi; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV. 2020 European Control Conference (ECC)
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Conference lectureOnstein, Ingrid Fjordheim; Evjemo, Linn Danielsen; Gravdahl, Jan Tommy. (2020) Additive Manufacturing Path Generation for Robot Manipulators Based on CAD Models. IFAC World Congress
2019
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Conference lectureWrzos-Kaminska, Marianna; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2019) Path following control for articulated intervention-AUVs using geometric control of reduced attitude. 11th IFAC Symposium on Nonlinear Control Systems
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Conference lectureBorlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2019) Tracking control of an articulated intervention AUV in 6DOF using the generalized super-twisting algorithm. Proc. 2019 American Control Conference
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Conference lectureAstad, Morten Andre; Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy. (2019) Vive for Robotics: Rapid Robot Cell Calibration. 2019 IEEE 7th International Conference on Control, Mechatronics and Automation, ICCMA 2019
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Conference lectureEvjemo, Linn Danielsen; Langelandsvik, Geir; Gravdahl, Jan Tommy. (2019) Wire Arc Additive Manufacturing by Robot Manipulator: Towards Creating Complex Geometries. 5th IFAC International Conference on Intelligent Control and Automation Sciences
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Conference lectureRagazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2019) Model-Based Identification of Nanomechanical Properties in Atomic Force Microscopy. Int. Conference on Manipulation, Automation and Robotics at Small Scales
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Conference lectureRagazzon, Michael Remo Palmén; Messineo, Saverio; Gravdahl, Jan Tommy; Harcombe, David M.; Ruppert, Michael G.. (2019) Generalized Lyapunov Demodulator for Amplitude and Phase Estimation by the Internal Model Principle. 8th IFAC Symposium on Mechatronic Systems
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Conference lectureJohannessen, Lill Maria; Arbo, Mathias Hauan; Gravdahl, Jan Tommy. (2019) Robot Dynamics with URDF & CasADi. 2019 IEEE 7th International Conference on Control, Mechatronics and Automation, ICCMA 2019
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Conference lectureBorlaug, Ida-Louise Garmann; Sverdrup-Thygeson, Jørgen; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2019) Combined kinematic and dynamic control of an underwater swimming manipulator. Proc. 12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles
2018
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Conference lecture
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Conference lectureTønnesen, Jonas; Bryn, Håkon; Gravdahl, Jan Tommy; Hassani, Vahid; Auestad, Øyvind Fidje. (2018) Roll damping of a surface effect ship with split air cushion. 2018 IFAC Conference on Control Applications in Marine Systems (CAMS)
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Conference lectureBorlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2018) Trajectory tracking for an articulated intervention AUV using a super-twisting algorithm in 6 DOF. Proc. 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles
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Conference lectureArbo, Mathias Hauan; Gravdahl, Jan Tommy. (2018) Stability of the Tracking Problem with Task-Priority Inverse Kinematics. 12th IFAC Symposiom on Robotics and Control (SYROCO)
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Conference lectureBacki, Christoph Josef; Gravdahl, Jan Tommy; Skogestad, Sigurd. (2018) Simple method for parameter identification of a nonlinear Greitzer compressor model. 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems (MICNON)
2017
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Conference lectureKohl, Anna M; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Velocity and orientation control of underwater snake robots using absolute velocity feedback. 1st IEEE Conference on Control Technology and Applications
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Conference lectureUddin, Nur; Gravdahl, Jan Tommy. (2017) Compressor Surge Control Design Using Linear Matrix Inequality Approach. International conference on Instrumentation, Control and Automation (ICA)
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LectureBorlaug, Ida-Louise Garmann; Gravdahl, Jan Tommy; Sverdrup-Thygeson, Jørgen; Pettersen, Kristin Ytterstad. (2017) Trajectory tracking for underwater swimming manipulators using a super twisting algorithm. SWARM 2017: The 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics
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Conference lectureEvjemo, Linn Danielsen; Moe, Signe; Gravdahl, Jan Tommy; Brøtan, Vegard; Roulet-Dubonnet, Olivier; Gellein, Lars Tore. (2017) Additive Manufacturing by Robot Manipulator: An Overview of the State-of-the-Art and Proof-of-Concept Results. Conference on Emerging Technologies And Factory Automation 2017
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Conference lectureRagazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2017) Exponential Convergence Bounds in Least Squares Estimation: Identification of Viscoelastic Properties in Atomic Force Microscopy. IEEE Conference on Control Technology and Applications
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Conference lectureKelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Strømsøyen, Simen; Sørensen, Asgeir Johan. (2017) Modeling and propulsion methods of underwater snake robots. 1st IEEE Conference on Control Technology and Applications
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Conference lectureArbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy. (2017) On Model Predictive Path Following and Trajectory Tracking for Industrial Robots. 13th IEEE Conference on Automation Science and Engineering
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Conference lectureArbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy. (2017) Mid-Level MPC and 6 DOF Output Path Following for Robotic Manipulators. 2017 IEEE Conference on Control Technology and Applications (CCTA)
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Conference lectureArbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy. (2017) On the Globally Exponentially Convergent Immersion and Invariance Speed Observer for Mechanical Systems. American Control Conference
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Conference lectureKohl, Anna M; Moe, Signe; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Set-based path following and obstacle avoidance for underwater snake robots. IEEE International Conference on Robotics and Biomimetics (ROBIO 2017)
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Conference lectureSverdrup-Thygeson, Jørgen; Moe, Signe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks. Conference on Control Technology and Applications
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Conference lectureKelasidi, Eleni; Pettersen, Kristin Ytterstad; Kohl, Anna M; Gravdahl, Jan Tommy. (2017) An Experimental Investigation of Path Following for an Underwater Snake Robot with a Caudal Fin. The 20th World Congress of the International Federation of Automatic Control
2016
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Conference lectureBacki, Christoph Josef; Gravdahl, Jan Tommy; Skogestad, Sigurd. (2016) Robust control of a two-state Greitzer compressor model by state-feedback linearization. 2016 IEEE Multi-Conference on Systems and Control
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Conference lectureKelasidi, Eleni; Kohl, Anna Magdalena; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Waypoint guidance control for underwater snake robots exposed to ocean currents. 24th Mediterranean Conference on Control and Automation (MED)
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Conference lectureKelasidi, Eleni; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2016) Locomotion Efficiency of Underwater Snake Robots with Thrusters. International Symposium on Safety, Security and Rescue Robotics
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Conference lectureUddin, Nur; Gravdahl, Jan Tommy. (2016) Active Compressor Surge Control System by Using Piston Actuation: Implementation and Experimental Results. 11th IFAC Symposium on Dynamics and Control of Process Systems, including Biosystems (DYCOPS-CAB 2016)
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Conference lectureUddin, Nur; Gravdahl, Jan Tommy. (2016) Two General State Feedback Control Laws for Compressor Surge Stabilization. 24th Mediterranean Conference on Control and Automation
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Conference lectureVagia, Marialena; Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2016) Nonlinear Tracking Control Scheme for a Nanopositioner. 24th Mediterranean Conference on Control and Automation
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Conference lectureRagazzon, Michael Remo Palmén; Vagia, Marialena; Gravdahl, Jan Tommy. (2016) Cell Mechanics Modeling and Identification by Atomic Force Microscopy. 7th IFAC Symposium on Mechatronic Systems
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Conference lectureRagazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Fleming, Andrew J.. (2016) On Amplitude Estimation for High-Speed Atomic Force Microscopy. 2016 American Control Conference
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Conference lectureRagazzon, Michael Remo Palmén; Gravdahl, Jan Tommy. (2016) Imaging Topography and Viscoelastic Properties by Constant Depth Atomic Force Microscopy. 2016 IEEE Multi-Conference on Systems and Control
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Interview
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Conference lectureBacki, Christoph Josef; Leth, John; Gravdahl, Jan Tommy. (2016) Optimal boundary control of a contact thawing process for foodstuff. 11th IFAC Symposium on Dynamics and Control of Process Systems, including Biosystems (DYCOPS-CAB 2016)
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Conference lectureMoe, Signe; Pettersen, Kristin Ytterstad; Fossen, Thor I.; Gravdahl, Jan Tommy. (2016) Line-of-Sight Curved Path Following for Underactuated USVs and AUVs in the Horizontal Plane under the influence of Ocean Currents. 24th Mediterranean Conference on Control and Automation (MED)
2015
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Conference lectureTuffaha, Mutaz; Gravdahl, Jan Tommy. (2015) Dynamic Formulation of the Unit Commitment and Economic Dispatch problems. 2015 IEEE International Conference on Industrial Technology (ICIT)
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Conference lectureUtstumo, Trygve; Gravdahl, Jan Tommy; Berge, Therese W.. (2015) Non-linear Model Predictive Control for constrained robot navigation in row crops. Proceedings of the 2015 IEEE International Conference on Industrial Technology (ICIT 2015)
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Conference lectureDørum, Jarle; Utstumo, Trygve; Gravdahl, Jan Tommy. (2015) Experimental comparison of adaptive controllers for trajectory tracking in agricultural robotics. 19th International Conference on System Theory, Control and Computing
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Conference lectureKelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) Energy efficiency of underwater snake robot locomotion. Mediterranean Conference on Control and Automation
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Conference lectureGale, Serge; Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy. (2015) Modelling and Simulation of a Flywheel Based Energy Storage System for an Industrial Manipulator. 2015 IEEE International Conference on Industrial Technology (ICIT 2015)
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Conference lectureAuestad, Øyvind Fidje; Fann, J.W. Mc; Gravdahl, Jan Tommy. (2015) Full-scale performance of the SES Motion Control System,. 13th International Conference on Fast Sea Transportation (FAST 2015)
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Conference lectureRagazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Eielsen, Arnfinn Aas. (2015) Topography and Force Imaging in Atomic Force Microscopy by State and Parameter Estimation. 2015 American Control Conference
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Conference lectureAuestad, Øyvind Fidje; Perez, Tristan; Gravdahl, Jan Tommy; Sørensen, Asgeir Johan; Espeland, Trygve H.. (2015) Boarding Control System - for Improved Accessibility to Offshore Wind Turbines. 10th IFAC Conference on Manoeuvring and Control of Marine Craft
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LectureKohl, Anna; Pettersen, Kristin Ytterstad; Kelasidi, Eleni; Gravdahl, Jan Tommy. (2015) Analysis of underwater snake robot locomotion based on a control-oriented model. 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)
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LectureKohl, Anna; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) A control-oriented model of underwater snake robots exposed to currents. 2015 IEEE Conference on Control Applications (CCA)
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Conference posterBacki, Christoph Josef; Gravdahl, Jan Tommy. (2015) A reduced observer design for a freezing process in plate freezers. 19th Nordic Process Control Workshop
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Conference lectureBacki, Christoph Josef; Bendtsen, Jan Dimon; Leth, John; Gravdahl, Jan Tommy. (2015) Stability properties of a heat equation with state-dependent parameters and asymmetric boundary conditions. 1st Conference on Modelling, Identification and Control of Nonlinear Systems (MICNON)
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Conference lectureRezapour, Ehsan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Hofmann, Andreas. (2015) Cross-Track Formation Control of Underactuated Bio-inspired Snake Robots. 1st International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2015)
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Conference lectureKelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) Energy efficiency of underwater robots. 10th IFAC Conference on Manoeuvring and Control of Marine Craft
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Conference lectureKelasidi, Eleni; Jesmani, Mansoureh; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) Multi-objective optimization for efficient motion of underwater snake robots. 1st International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2015)
2014
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Conference lectureLiljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2014) Compliant Control of the Body Shape of Snake Robots. 2014 IEEE International Conference on Robotics & Automation (ICRA)
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Conference lectureLiljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) Mamba - A Waterproof Snake Robot with Tactile Sensing. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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Conference lectureLiljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2014) A 3D Motion Planning Framework for Snake Robots. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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Conference lectureHolden, Christian; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2014) Optimal Dynamic Force Mapping for Obstacle-Aided Locomotion in 2D Snake Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems 2014
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Conference posterUtstumo, Trygve; Dørum, Jarle; Arbo, Mathias; Berge, Therese W.; Goldberg, Steve; Overskeid, Øyvind; Gravdahl, Jan Tommy. (2014) Asterix - Automatic weed control in row-crops. Kybernetisk Fagdag - Teknisk Kybernetikk 60 år (Best Poster Award)
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Conference lectureRezapour, Ehsan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Liljebäck, Pål. (2014) Body Shape and Orientation Control for Locomotion of Biologically-Inspired Snake Robots. IEEE International Conference on Biomedical Robotics and Biomechatronics
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Conference lectureKelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) Modeling of underwater snake robots moving in a vertical plane in 3D. IEEE/RSJ International Conference on Intelligent Robots and Systems
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Conference lectureRagazzon, Michael Remo Palmén; Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy. (2014) H_inf Reduced Order Control for Nanopositioning: Numerical Implementability. 19th World Congress of the International Federation of Automatic Control, IFAC
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Conference lectureKelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Liljebäck, Pål. (2014) Modeling of underwater snake robots. IEEE International Conference on Robotics and Automation (ICRA)
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Conference lectureKelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) A waypoint guidance strategy for underwater snake robots. Mediterranean Conference on Control and Automation
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Conference lectureTeo, Yik R.; Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Fleming, Andrew J.. (2014) Discrete-Time Repetitive Control With Model-Less FIR Filter Inversion for High Performance Nanopositioning. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2014)
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Conference lectureFrom, Pål Johan; Pham, Cong Dung; Gravdahl, Jan Tommy. (2014) A Geometric Approach to Handling Torque Failure in Serial Manipulators and Closed Chain Manipulators with Passive Joints. 85th Annual Meeting of the International Association of Applied Mathematics and Mechanics
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Conference lectureEielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Leang, Kam K.. (2014) Analog Robust Repetitive Control for Nanopositioning Using Bucket Brigade Devices. 19th World Congress of the International Federation of Automatic Control, IFAC
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Conference lectureAuestad, Øyvind Fidje; Gravdahl, Jan Tommy; Sørensen, Asgeir Johan; Espeland, Trygve H.. (2014) Motion Compensation System for a Free Floating Surface Effect Ship. 19th World Congress of the International Federation of Automatic Control, IFAC
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Conference lectureBacki, Christoph Josef; Bendtsen, Jan Dimon; Leth, John; Gravdahl, Jan Tommy. (2014) Estimation of inner-domain temperatures for a freezing process. 2014 IEEE Conference on Control Applications (CCA)
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Conference lectureBacki, Christoph Josef; Bendtsen, Jan Dimon; Leth, John; Gravdahl, Jan Tommy. (2014) The nonlinear heat equation with state-dependent parameters and its connection to the Burgers' and the potential Burgers' equation. 19th IFAC World Congress
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Conference lectureRezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2014) Differential Geometric Modelling and Robust Path Following Control of Snake Robots Using Sliding Mode Techniques. IEEE International Conference on Robotics and Automation
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Conference lectureUrdal, Frode; Utstumo, Trygve; Vatne, Jan Kåre; Ellingsen, Simen Andreas Ådnøy; Gravdahl, Jan Tommy. (2014) Design and control of precision drop-on-demand herbicide application in agricultural robotics. The 13th International Conference on Control, Automation, Robotics and Vision
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Conference lectureKelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) A Control–Oriented Model of Underwater Snake Robots. IEEE International conference on robotics and biomimetics (ROBIO 2014)
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Conference lectureKelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) Stability Analysis of Underwater Snake Robot Locomotion Based on Averaging Theory. IEEE International conference on robotics and biomimetics (ROBIO 2014)
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Conference lectureTuffaha, Mutaz; Gravdahl, Jan Tommy. (2014) Modeling and Control of a Marine Diesel Engine driving a Synchronous machine and a Propeller. IEEE MSC 2014
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Conference lectureKelasidi, Eleni; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2014) Integral Line-of-Sight for path following of underwater snake robots. IEEE MSC 2014
2013
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Conference lectureTuffaha, Mutaz; Gravdahl, Jan Tommy. (2013) Mixed-Integer Formulation of Unit Commitment problem for power systems: Focus on start-up cost. 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
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Conference lectureCaharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2013) Counter-Current and Co-Current Guidance of Underactuated Unmanned Marine Vehicles. IFAC Symposium on Intelligent Autonomous Vehicles
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Conference lectureCaharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2013) Path Following of Marine Surface Vessels with Saturated Transverse Actuators. American Control Conference
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Conference lectureHolden, Christian; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Optimal Mapping from a Continuous 3D Curve to the Position and Shape of a Snake Robot. 2013 IEEE International Conference on Mechatronics (ICM)
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Conference lectureAuestad, Øyvind Fidje; Gravdahl, Jan Tommy; Sørensen, Asgeir Johan; Halvorsen, Trygve Espeland. (2013) Simulator and Control System Design for a free floating Surface Effect Ship at zero vessel speed. IFAC Intelligent Autonomous Vehicles Symposium
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Conference lectureVagia, Marialena; Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2013) Design of a nonlinear damping control scheme for nanopositioning. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
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Conference lectureBacki, Christoph Josef; Gravdahl, Jan Tommy; Grøtli, Esten Ingar. (2013) Nonlinear observer design for a Greitzer compressor model. Mediterranean Conference on Control and Automation
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Conference lectureEielsen, Arnfinn Aas; Vagia, Marialena; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2013) Fixed-Structure, Low-Order Damping and Tracking Control Schemes for Nanopositioning. 6th IFAC Symposium on Mechatronic Systemst
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Conference posterBacki, Christoph Josef; Gravdahl, Jan Tommy. (2013) Optimal Neumann boundary control for a freezing process with phase change. 18th Nordic Process Control Workshop
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Conference lectureCaharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2013) Path Following of Underactuated Surface Vessels in Presence of Unknown Constant Environmental Forces: Preliminary Results. 9th IFAC Conference on Control Applications in Marine Systems
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Conference lecturePettersen, Kristin Ytterstad; Liljebäck, Pål; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Snake Robots - From Biology to Nonlinear Control. IFAC Symposium on Nonlinear Control
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Conference lectureRezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2013) Path Following Control of Planar Snake Robots Using Virtual Holonomic Constraints. 2013 IEEE International Conference on Robotics and Biomimetics
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Interview
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Conference lectureAuestad, Øyvind Fidje; Gravdahl, Jan Tommy; Fossen, Thor I.. (2013) Heave Motion Estimation on a Craft Using a Strapdown Inertial Measurement Unit. 9th IFAC Conference on Control Applications in Marine Systems
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Conference lectureCaharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2013) Two Practically Inspired Guidance Laws for Surface Vessels and Underwater Vehicles. Besøk hos University of Newcastle, Australia
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Conference lectureCaharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2013) Two Practically Inspired Guidance Laws for Surface Vessels and Underwater Vehicles. Besøk hos NUS, Singapore
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Conference lectureNygren, Martin; Birkeland, Roger; Gravdahl, Jan Tommy. (2013) Using independent combinations of CubeSat solar panels as sun sensors for separating inbound sunlight information. 2nd IAA Conference on University Satellite Missions and CubeSat Workshop
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Conference lectureTuffaha, Mutaz; Gravdahl, Jan Tommy. (2013) Mixed-Integer Minimization of the Cost function of the Unit Commitment problem for Isolated power systems. 52nd IEEE Conference on Decision and Control, CDC 2013
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Conference lectureUtstumo, Trygve; Gravdahl, Jan Tommy. (2013) Implementation and Comparison of Attitude Estimation Methods for Agricultural Robotics. 4th IFAC Conference on Modelling and Control in Agriculture, Horticulture and Post Harvest Industry, 2013
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Conference lectureRahmanpour, Parsa; Bones, John Atle; Hovd, Morten; Gravdahl, Jan Tommy. (2013) Linear and Nonlinear State Estimation in the Czochralski Process. IFAC Symposium on Dynamics and Control of Process Systems
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Conference lectureGale, Serge; Vestheim, Siri; Gravdahl, Jan Tommy; Fjerdingen, Sigurd Aksnes; Schjølberg, Ingrid. (2013) RBF Network Pruning Techniques for Adaptive Learning Controllers. Robot Motion and Control (RoMoCo), 2013 9th Workshop on
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Conference posterBacki, Christoph Josef; Gravdahl, Jan Tommy. (2013) Optimal boundary control for the heat equation with application to freezing with phase change. 3rd Australian Control Conference
2012
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Conference posterBacki, Christoph Josef; Gravdahl, Jan Tommy. (2012) Modeling of the freezing process for fish in vertical plate freezers. 17th Nordic Process Control Workshop
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Conference lectureCaharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Sørensen, Asgeir Johan. (2012) Topics on Current Compensation for Path Following Applications of Underactuated Underwater Vehicles. IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles
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Conference lectureCaharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Børhaug, Even. (2012) Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Ocean Currents. 51st IEEE Conference on Decision and Control
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Conference lectureCaharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Børhaug, Even. (2012) Integral LOS Guidance for Horizontal Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Vertical Ocean Currents. American Control Conference
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Conference lectureUddin, Nur; Gravdahl, Jan Tommy. (2012) A Compressor Surge Control System: Combination Active Surge Control and Surge Avoidance. 13th International Symposium on Unsteady Aerodynamics, Aeroacoustics, and Aeroelasticity of Turbomachinery
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Conference lectureUddin, Nur; Gravdahl, Jan Tommy. (2012) Introducing Back-up to Active Compressor Surge Control System. IFAC Workshop on Automatic Control in Offshore Oil and Gas Production
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Conference lectureEielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Leang, Kam K.. (2012) Robust Damping PI Repetitive Control for Nanopositioning. American Control Conference
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Conference lectureUddin, Nur; Gravdahl, Jan Tommy. (2012) Bond graph modeling of centrifugal compressor system. 10th International Conference on Bond Graph Modeling and Simulation
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Conference lectureRinnan, Toril Bye; Birkeland, Roger; Gravdahl, Jan Tommy. (2012) Implementation of three axis attitude determination and control system for a double cubesat. 4th European CubeSat Symposium
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Conference lectureEielsen, Arnfinn Aas; Gravdahl, Jan Tommy. (2012) Adaptive Control of a Nanopositioning Device. 51st IEEE Conference on Decision and Control
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Conference posterSola, Holberg Fredrik; Birkeland, Roger; Gravdahl, Jan Tommy. (2012) Implementation of three axis attitude determination and control system for a double cubesat. 4th European CubeSat Symposium
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Conference lectureLiljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2012) A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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Conference lectureLiljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2012) A modular and waterproof snake robot joint mechanism with a novel force/torque sensor. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2011
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Conference lectureEielsen, Arnfinn Aas; poloni, tomas; Johansen, Tor Arne; Gravdahl, Jan Tommy. (2011) Experimental Comparison of Online Parameter Identification Schemes for a Nanopositioning Stage with Variable Mass. IEEE/ASME International Conference on Advanced Intelligent Mechatronics
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Conference lectureEielsen, Arnfinn Aas; Burger, Mernout; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2011) PI2-Controller Applied to a Piezoelectric Nanopositioner Using Conditional Integrators and Optimal Tuning. 18th IFAC World Congress
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Conference lectureUddin, Nur; Gravdahl, Jan Tommy. (2011) Piston-actuated Active Surge Control of Centrifugal Compressor Including Integral Action. In proceedings of the 11th International Conference on Control, Automation and Systems (ICCAS 2011)
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Conference lectureUddin, Nur; Gravdahl, Jan Tommy. (2011) Compressor Anti Surge System with piston actuation. 4th ASME Annual Dynamic Systems and Control Conference
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Conference lectureJensen, Kristian; Yabar, Kaan Husby; Gravdahl, Jan Tommy. (2011) A comparison of attitude determination methods: theory and experiments. 62nd International Astronautical Congress
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Conference lectureLiljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2011) Path following control of snake robots in unstructured environments. Proceedings / IEEE International Conference on Robotics and Automation
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Conference lectureFrom, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2011) A Singularity Free Formulation of the Dynamically Equivalent Manipulator Mapping of Space Manipulators. AIAA SPACE 2011
2010
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Conference lectureGrøtli, Esten Ingar; Chaillet, Antoine; Panteley, Elena; Gravdahl, Jan Tommy. (2010) Robustness of ISS Systems to Inputs with Limited Moving Average, with Application to Spacecraft Formations. International Conference on Informatics in Control, Automation and Robotics
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Conference lectureFrom, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2010) Singularity-Free Dynamic Equations of Spacecraft-Manipulator Systems. 61st International Astronautical Congress
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Conference lectureEielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Vogl, Lukas. (2010) Tracking Control for a Piezoelectric Nanopositioner Using Estimated States and Feedforward Compensation of Hysteresis. 2010 IFAC Symposium on Mechatronic Systems
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Conference lectureFrom, Pål Johan; Abbeel, Pieter; Gravdahl, Jan Tommy. (2010) On the Influence of Ocean and Ship Modeling Accuracy on Motion Planning and Control of Robotic Manipulators on Seaborne Platforms. IEEE International Conference on Robotics and Automation
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Conference lectureFrom, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2010) Singularity-Free Dynamic Equations of AUV-Manipulator Systems. 7th IFAC Symposium on Intelligent Autonomous Vehicles
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Conference lectureLiljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) Stability analysis of snake robot locomotion based on averaging theory. IEEE Conf. Decision and Control
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Conference lectureLiljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) A hybrid model of obstacle-aided snake robot locomotion. IEEE Int. Conf. Robotics and Automation
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Conference lectureLiljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) Fundamental properties of snake robot locomotion. IEEE/RSJ Int. Conf. Intelligent Robots and Systems
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Conference lectureLiljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) A simplified model of planar snake robot locomotion. IEEE/RSJ Int. Conf. Intelligent Robots and Systems
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Conference lectureFrom, Pål Johan; Schjølberg, Ingrid; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Fossen, Thor I.. (2010) On the Boundedness and Skew-Symmetric Properties of the Inertia and Coriolis Matrices for Vehicle-Manipulator Systems. 7th Symposium on Intelligent Autonomous Vehicles
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Conference lectureLiljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) Experimental investigation of fundamental properties of snake robot locomotion. 2010 International Conference on Control, Automation, Robotics and Vision (ICARCV 2010)
2009
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Conference lectureFrom, Pål Johan; Gravdahl, Jan Tommy. (2009) Real-time Optimal Trajectory Planning for Robotic Manipulators with Functional Redundancy. proceedings of the International Conference on Industrial Technology
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Conference lectureFrom, Pål Johan; Duindam, Vincent; Gravdahl, Jan Tommy; Sastry, Shankar. (2009) Modeling and Motion Planning for Mechanisms on a Non-Inertial Base. The international conference of robotics and automation
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Conference lectureFrom, Pål Johan; Gravdahl, Jan Tommy. (2009) Representing Sets of Orientations as Convex Cones. The 2009 IEEE International Conference on Robotics and Automation
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Conference lectureFrom, Pål Johan; Gravdahl, Jan Tommy. (2009) Fault Tolerance of Parallel Manipulators with Passive Joints. 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes
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Conference lectureKrogstad, Thomas Røbekk; Gravdahl, Jan Tommy. (2009) Output feedback control of relative spacecraft attitude. European Control Conference
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Conference lectureLiljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2009) Controllability analysis of planar snake robots influenced by viscous ground friction. IEEE/RSJ Int. Conf. Intelligent Robots and Systems
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Conference lectureLiljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2009) Stability analysis of snake robot locomotion based on Poincaré maps. IEEE/RSJ Int. Conf. Intelligent Robots and Systems
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Conference lecture
2008
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Conference lectureGrøtli, Esten Ingar; Chaillet, Antoine; Gravdahl, Jan Tommy. (2008) Output Control of Spacecraft in Leader Follower Formation. 47th IEEE Conference on Decision and Control
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Conference lecture
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Conference lectureGrøtli, Esten Ingar; Gravdahl, Jan Tommy. (2008) Output attitude tracking of formation of spacecraft. IFAC World Congress
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Conference lectureGrøtli, Esten Ingar; Gravdahl, Jan Tommy. (2008) Formation Control by Quantized Output Feedback. International Symposium on Formation Flying, Missions and Technologies
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Conference posterKrogstad, Thomas Røbekk; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Børhaug, Even. (2008) AUVSAT - an experimental platform for spacecraft formation flying. 59th International Astronautical Congress
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Conference lectureAdams, G.J.; Burke, B.J.; Goodwin, Graham C.; Gravdahl, Jan Tommy; Peirce, R.D.; Rojas, A.J.. (2008) Managing steam and concentration disturbances in multi-effect evaporators via nonlinear modelling and control. 17th IFAC World Congress
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Conference lecturePaul, Tobias; Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy. (2008) UAV Formation Flight using 3D Potential Field,. 2008 Mediterranean conference on control & automation
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Conference lectureHovland, Svein; Løvaas, Christian; Gravdahl, Jan Tommy; Goodwin, Graham C.. (2008) Stability of MPC Based on Reduced-Order Models. 47th IEEE Conference on Decision and Control
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Conference lectureHovland, Svein; Gravdahl, Jan Tommy. (2008) Complexity Reduction in Explicit MPC through Model Reduction. 17th IFAC World Congress
2007
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Conference lectureGravdahl, Jan Tommy. (2007) Recent results within modeling and active control of centrifugal compressors. Gjesteforelesning
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Conference lecture
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Conference lectureKrogstad, Thomas Røbekk; Kristiansen, Raymond; Gravdahl, Jan Tommy; Nicklasson, Per J.. (2007) PID+ backstepping control of relative spacecraft attitude. 7th IFAC Symposium on Nonlinear Control Systems (NOLCOS)
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Conference lectureKristiansen, Raymond; Nicklasson, Per J.; Gravdahl, Jan Tommy. (2007) Formation Modelling and 6DOF Spacecraft Coordination Control. American Control Conference
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Conference lectureKristiansen, Raymond; Krogstad, Thomas Røbekk; Nicklasson, Per J.; Gravdahl, Jan Tommy. (2007) Spacecraft coordination control using PID backstepping. 17th IFAC Symposium on Automatic Control in Aerospace (ACA)
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Conference lectureBøhagen, Bjørnar; Gravdahl, Jan Tommy. (2007) Circle criterion observer for a compression system. American Control Conference
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Conference lectureGrøtli, Esten Ingar; Gravdahl, Jan Tommy. (2007) Passivity based controller-observer schemes for relative translation of a formation of spacecraft. American Control Conference
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Interview
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Interview
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Interview
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Interview
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Conference lectureFrom, Pål Johan; Gravdahl, Jan Tommy. (2007) Representing Attitudes as Sets of Frames. American Control Conference
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Conference lectureFrom, Pål Johan; Gravdahl, Jan Tommy. (2007) General Solutions to Functional and Kinematic Redundancy. Conference on decision and conrol
2006
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Conference lectureKrogstad, Thomas Røbekk; Gravdahl, Jan Tommy. (2006) 6-DOF mutual synchronization of formation flying spacecraft. 45th IEEE Conference on Decision and Control
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Conference posterBøhagen, Bjørnar; Gravdahl, Jan Tommy. (2006) Active surge control using drive torque; dynamic control laws. The 45th IEEE Conference on Decision and Control
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Conference posterHovland, Svein; Willcox, Karen E.; Gravdahl, Jan Tommy. (2006) Constrained Optimal Control for Large-Scale Systems via Model Reduction. Conference of the Dutch-Flemish Numerical Analysis Communities
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Conference lectureHovland, Svein; Willcox, Karen E.; Gravdahl, Jan Tommy. (2006) Constrained Optimal Control for Large-Scale Systems via Model Reduction. Northeast Control Workshop
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Conference lectureHovland, Svein; Gravdahl, Jan Tommy. (2006) Order Reduction and Output Feedback Stabilization of an Unstable CFD Model. 2006 American Control Conference
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Conference lectureHovland, Svein; Willcox, Karen E.; Gravdahl, Jan Tommy. (2006) MPC for Large-Scale Systems via Model Reduction and Multiparametric Quadratic Programming. IEEE Conference on Decision and Control
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Conference lectureKrogstad, Thomas Røbekk; Gravdahl, Jan Tommy. (2006) Coordinated attitude control of satellites in formation. Workshop on Group Coordination and Cooperative Control
2005
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Conference lectureHegrenæs, Øyvind; Gravdahl, Jan Tommy; Tøndel, Johan Petter. (2005) Attitude Control by means of Explicit Model Predictive Control, via Multi-parametric Quadratic Programming. American Control Conference
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Conference lectureKrøvel, Trond Dagfinn; Gravdahl, Jan Tommy. (2005) Pulse Width-Pulse Frequency Modulation of Thrusters for the Micro-Satellite SSETI/ESMO. Technology Education Conference, STEC2005
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Conference lectureGrøtli, Esten Ingar; Gravdahl, Jan Tommy. (2005) Coordinated control of satellites: the relative position case. Space Technology Education Conference, STEC2005
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Conference lectureKrogstad, Thomas; Gravdahl, Jan Tommy; Tøndel, Johan Petter. (2005) Attitude control and stability analysis of satellites in earth and moon orbit. Space Technology Education Conference, STEC2005
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Interview
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Conference posterSunde, Bernt-Ove; Gravdahl, Jan Tommy. (2005) Attitude Determination for the student satellite nCubeII: Kalman Filter. 56th International Astronautical Congress
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Interview
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Conference lectureGravdahl, Jan Tommy. (2005) Surge in centrifugal compressors: modeling and active control. Lund Institute of Technology
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Conference lectureBøhagen, Bjørnar; Gravdahl, Jan Tommy. (2005) Active control of compression systems using drive torque; a backstepping approach. 44th IEEE Conference on Decition and Control
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Conference lectureHovland, Svein; Gravdahl, Jan Tommy. (2005) Stabilizing a CFD model of an unstable system. 46th Scandinavian conference on simulation and modeling
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Conference lectureBondhus, Anne Karin; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2005) Leader/Follower synchronization of satellite attitude without angular velocity measurements. CDC-ECC-2005
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Conference lectureKrogstad, Thomas; Gravdahl, Jan Tommy; Tøndel, Johan Petter. (2005) Explicit model predictive control of a satellite with magnetic torquers. The 13th Mediterranean Conference on Control and Automation
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Conference lectureKrogstad, Thomas Røbekk; Gravdahl, Jan Tommy; Tøndel, Johan Petter. (2005) Attitude control and stability analysis of satellites in earth and moon orbit. 56th International Astronautical Congress
2004
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Conference lectureGravdahl, Jan Tommy; Bøhagen, Bjørnar. (2004) Stabilization of centrifugal compressor surge using drive actuation and mass flow observers. Gjesteforelesning
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Conference lectureBøhagen, Bjørnar; Gravdahl, Jan Tommy. (2004) A GES mass flow observer for compression systems: Design and experiments. 41st IEEE Conference on Decision and Control
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Conference lectureTopland, Morten; Gravdahl, Jan Tommy. (2004) Nonlinear attitude control of the microsatellite ESEO. the 55th International Astronautical Congress
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Conference lectureGravdahl, Jan Tommy. (2004) Magnetic attitude control for satellites. 43rd IEEE Conference on Decition and Control
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Conference posterØverby, Eli; Gravdahl, Jan Tommy; Ose, Stian; Fauske, Kjell Magne. (2004) nCube - Norwegian Student satellite: Attitude Determination and Control System. Space Technolgy Education Conference
2003
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Conference lectureGravdahl, Jan Tommy; Eide, Egil; Skavhaug, Amund; Svartveit, Kristian; Fauske, Kjell Magne; Indergaard, Fredrik. (2003) Three axis Attitude Determination and Control System for a picosatellite: Design and implementation. 54th International Astronautical Congress
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LectureGravdahl, Jan Tommy. (2003) Aktiv regulering av kompressorer og gassturbiner. Optimal utnyttelse av naturgass
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Conference lectureGravdahl, Jan Tommy; Eide, Egil; Skavhaug, Amund; Svartveit, Kristian; Fauske, Kjell Magne; Indergaard, Fredrik. (2003) THREE AXIS ATTITUDE DETERMINATION AND CONTROL SYSTEM FOR A PICO-SATELLITE: DESIGN AND IMPLEMENTATION. 54th International Astronautical Congress of the International Astronautical Federation, the International Academy of Astronautics, and the International Institute of Space Law IAC-03-A.5.07 Copyright © 20
2002
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Conference lectureBøhagen, Bjørnar; Gravdahl, Jan Tommy. (2002) On active surge control of compressors using a mass flow observer. 41st IEEE Conference on Decision and Control
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Conference lectureGravdahl, Jan Tommy; Egeland, Olav; Vatland, Svein. (2002) Drive actuation in active control of centrifugal compressors. 21st Benelux meeting on systems and control
2001
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Conference lectureGravdahl, Jan Tommy; Egeland, Olav; Vatland, Svein. (2001) Active surge control of centrifugal compressors using drive torque. 40th IEEE Conference on decision and control
2000
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Conference lectureGravdahl, Jan Tommy; Willems, Frank; Jager, Bram de; Egeland, Olav. (2000) Modeling for surge control of centrifugal compresssors: Comparison with experiment. 39th IEEE Conference on Decision and Control
1999
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Conference lectureGravdahl, Jan Tommy. (1999) Centrifugal compressors : modeling and speed/surge control. [Mangler data]
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Conference lectureGravdahl, Jan Tommy; Egeland, Olav. (1999) Centrifugal compressors : modeling and speed/surge control. [Mangler data]
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Conference lectureGravdahl, Jan Tommy; Egeland, Olav. (1999) Centrifugal compressors : modeling and speed/surge control. [Mangler data]
1998
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Conference lectureGravdahl, Jan Tommy; Egeland, Olav. (1998) Two results on compressor surge control with disturbance rejection. 37th IEEE Conference on decition and control
1997
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Conference lectureGravdahl, Jan Tommy; Egeland, Olav. (1997) Compressor surge control using a close-coupled valve and backstepping. 1997 American Control Conference
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Conference lectureGravdahl, Jan Tommy; Egeland, Olav. (1997) Speed and surge control for a low order centrifugal compressor. 1997 International Conference of Control Applications
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Conference lectureGravdahl, Jan Tommy; Egeland, Olav. (1997) A Moore-Greitzer axial compressor model with sppool dynamics. 36th IEEE Conference on Decision and Control
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Conference lectureGravdahl, Jan Tommy; Egeland, Olav. (1997) Passivity based compressor surge control using a close-coupled valve. The 1997 COSY Workshop on Control of Nonlinear and Uncertain Sy stems
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Conference lectureGravdahl, Jan Tommy; Egeland, Olav. (1997) Control of the three-state Moore-Greitzer compressor model using a close-coupled valve. 1997 European Control Conference