2025

• Foseid, Eirik Lothe; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; 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
• 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/article/Conference paper
• 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
• 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
• Anand, Akhil Sadanandan; Kaushik, Rituraj; Gravdahl, Jan Tommy; Abu-Dakka, Fares J.. (2024) Data-Efficient Reinforcement Learning for Variable Impedance Control. IEEE Access
  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
• 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
• Langer, Dennis David; Garrett, Joseph Landon; Kristiansen, Bjørn Andreas; Bakken, Sivert; Berg, Simen; Birkeland, Roger. (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/article/Conference paper
• 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
• Anand, Akhil Sadanandan; 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 Norges teknisk-naturvitenskapelige universitet
  Doctoral dissertation
• 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
• 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
• Haugstvedt, Emil Johannesen; Calero, Alberto Mino; 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
• 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/article/Conference paper
• 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
• 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

2022

• Orucevic, Amer; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Chaillet, Antoine. (2022) Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots.
  Academic chapter/article/Conference paper
• 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
• Anand, Akhil Sadanandan; Myrestrand, Martin Hagen; Gravdahl, Jan Tommy. (2022) Evaluation of Variable Impedance-and Hybrid Force/MotionControllers for Learning Force Tracking Skills.
  Academic chapter/article/Conference paper
• 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

• Evjemo, Linn Danielsen; Moe, Signe; Gravdahl, Jan Tommy. (2021) Robotised Wire Arc Additive Manufacturing Using Set-based Control: Experimental Results. 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
• 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. (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
• Sterud, Camilla; Moe, Signe; Gravdahl, Jan Tommy. (2021) Stable and robust neural network controllers.
  Academic chapter/article/Conference paper
• 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

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
• Moe, Signe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Set-based collision avoidance applications to robotic systems. Mechatronics (Oxford)
  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/article/Conference paper

2019

• 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
• 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/article/Conference paper
• 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 Norges teknisk-naturvitenskapelige universitet
  Masters thesis

2018

• 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
• 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. (2018) Robotic in-row weed control in vegetables. Computers and Electronics in Agriculture
  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

2017

• Kohl, Anna M; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Velocity and orientation control of underwater snake robots using absolute velocity feedback.
  Academic chapter/article/Conference paper
• 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
• 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
• 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/article/Conference paper
• 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

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/article/Conference paper
• 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
• Caharija, Walter; Pettersen, Kristin Ytterstad; Bibuli, Marco; Calado, Pável; Zereik, Enrica; Braga, Jose. (2016) Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations and Experiments. IEEE Transactions on Control Systems Technology
  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
• 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

2015

• 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/article/Conference paper
• Backi, Christoph Josef; Gravdahl, Jan Tommy. (2015) Modeling, Estimation and Control of Freezing and Thawing Processes: Theory and Applications. Norges teknisk-naturvitenskapelige universitet Norges teknisk-naturvitenskapelige universitet
  Doctoral dissertation
• Kohl, Anna; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) A control-oriented model of underwater snake robots exposed to currents.
  Academic chapter/article/Conference paper
• 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
• Utstumo, Trygve; Berge, Therese W.; Gravdahl, Jan Tommy. (2015) Non-linear model predictive control for constrained robot navigation in row crops.
  Academic chapter/article/Conference paper

2014

• 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/article/Conference paper
• Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2014) Compliant Control of the Body Shape of Snake Robots.
  Academic chapter/article/Conference paper
• 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
• Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2014) A 3D motion planning framework for snake robots.
  Academic chapter/article/Conference paper
• 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 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
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) A Control-Oriented Model of Underwater Snake Robots.
  Academic chapter/article/Conference paper
• 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/article/Conference paper
• 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

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
• 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/article/Conference paper
• 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/article/Conference paper
• 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
• 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
• 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/article/Conference paper
• Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2013) Path Following Control of Planar Snake Robots Using Virtual Holonomic Constraints.
  Academic chapter/article/Conference paper
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Snake Robots - Modelling, Mechatronics, and Control. Springer Springer
  Academic monograph
• Gale, Serge; Vestheim, Siri; Gravdahl, Jan Tommy; Fjerdingen, Sigurd Aksnes; Schjølberg, Ingrid. (2013) RBF Network Pruning Techniques for Adaptive Learning Controllers.
  Academic chapter/article/Conference paper
• Backi, Christoph Josef; Gravdahl, Jan Tommy; Grøtli, Esten Ingar. (2013) Nonlinear observer design for a Greitzer compressor model.
  Academic chapter/article/Conference paper
• 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; Sørensen, Asgeir Johan. (2012) Topics on Current Compensation for Path Following Applications of Underactuated Underwater Vehicles. Elsevier IFAC Publications / IFAC Proceedings series
  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/article/Conference paper
• Uddin, Nur; Gravdahl, Jan Tommy. (2012) Bond graph modeling of centrifugal compressor system.
  Academic chapter/article/Conference paper
• 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
• 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

2011

• Gravdahl, Jan Tommy. (2011) Kybernetikk Introduksjon: Innføring i dynamikk og reguleringsteknikk. Tapir Akademisk Forlag Tapir Akademisk Forlag
  Compendium
• 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/article/Conference paper
• 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
• 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/article/Conference paper
• 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/article/Conference paper
• 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) Experimental Investigation of Obstacle-Aided Locomotion With a Snake Robot. IEEE transactions on robotics and automation
  Academic article

2010

• 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
• 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
• Grøtli, Esten Ingar; Gravdahl, Jan Tommy. (2010) Robust stability and control of spacecraft formations. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU, 1503-8181 (2010:1)
  Doctoral dissertation

2009

• Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy. (2009) Output feedback control of relative spacecraft attitude.
  Academic chapter/article/Conference paper
• From, Pål Johan; Gravdahl, Jan Tommy. (2009) Representing sets of orientations as convex cones. 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) IEEE (Institute of Electrical and Electronics Engineers)
  Academic anthology/Conference proceedings

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
• 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 Doktoravhandlinger ved NTNU, 1503-8181 (2008:274)
  Doctoral dissertation
• 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
• 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/article/Conference paper
• From, Pål Johan; Gravdahl, Jan Tommy. (2008) On the Equivalence of Orientation Error and Positive Definiteness of Matrices.
  Academic chapter/article/Conference paper

2007

• 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
• 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 Doktoravhandlinger ved NTNU, 1503-8181 (2007:126)
  Doctoral dissertation
• 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/article/Conference paper

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 Springer
  Academic anthology/Conference proceedings
• 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

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
• 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/article/Conference paper
• 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
• Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy; Kristiansen, Raymond. (2005) Attitude control of satellites in clusters. Tapir trykk Tapir trykk
  Masters 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/article/Conference paper
• 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 Tapir Akademisk Forlag
  Academic anthology/Conference proceedings
• Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy; Kristiansen, Raymond. (2005) Coordinated control of satellites: the attitude case.
  Academic chapter/article/Conference paper
• Sunde, Bernt-Ove; Gravdahl, Jan Tommy. (2005) Attitude Determination for the student satellite nCubeII: Kalman Filter.
  Academic chapter/article/Conference paper
• Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy; Tøndel, Johan Petter. (2005) Explicit model predictive control of a satellite with magnetic torquers.
  Academic chapter/article/Conference paper
• 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; 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 Høgskolen i Narvik
  Report
• Kristiansen, Raymond; Nicklasson, Per Johan; Gravdahl, Jan Tommy. (2005) Satellite attitude control by quaternion-based backstepping. Høgskolen i Narvik Høgskolen i Narvik
  Report

2004

• 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/article/Conference paper
• Topland, Morten Pedersen; Gravdahl, Jan Tommy. (2004) Nonlinear Attitude Control of the Micro-Satellite ESEO. NTNU NTNU
  Masters thesis

2002

• Gravdahl, Jan Tommy; Egeland, Olav; Vatland, Svein. (2002) Drive torque actuation in active surge control of centrifugal compressors. Automatica
  Academic article

2001

• Egeland, Olav; Gravdahl, Jan Tommy. (2001) Modeling and Simulation for Control. Institutt for teknisk kybernetikk, NTNU Institutt for teknisk kybernetikk, NTNU
  Compendium

1998

• Gravdahl, Jan Tommy. (1998) Modeling and control of surge and rotating stall in compressors. Institutt for teknisk kybernetikk, NTNU Institutt for teknisk kybernetikk, NTNU
  Doctoral dissertation
• 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