Jan Inge Dyrhaug
About
PhD Topic: Interaction control of light-weight vehicle-manipulator systems
I am interested in the fundamental challenges in bridging mathematical modeling and analysis with practical control of complex physical systems with highly nonlinear and uncertain dynamics. My research is focused on the problem of interaction control of light-weight underwater vehicle-manipulator systems, i.e., maritime floating-base manipulators and tasks like turning valves, picking up an object of interest, tacticle sensing and so on.
Research interests:
- interaction control
- nonlinear control and estimation theory
- control of complex dynamical systems
- bio-inspired robotics
- modeling for control
- robust adaptive control
- model-predictive control (MPC)
- physics-informed machine learning
Supervisor: Kristin Y. Pettersen
Co-supervisor: Jan Tommy Gravdahl
Research
PhD Topic: Interaction control of light-weight vehicle-manipulator systems
I am interested in the fundamental challenges in bridging mathematical modeling and analysis with practical control of complex physical systems with highly nonlinear and uncertain dynamics. My research is focused on the problem of interaction control of light-weight vehicle-manipulator systems, i.e., floating-base manipulators, with an emphasis on the maritime (underwater) domain. The problem I seek to solve is to make the robots autonomously and reliably do things like turning valves, picking up objects of interest, tacticle sensing (e.g., touching and carefully knock on a pipeline to estimate the strength) and more.
Research interests:
- interaction control
- nonlinear control and estimation theory
- control of complex dynamical systems
- bio-inspired robotics
- modeling for control
- robust adaptive control
- model-predictive control (MPC)
- physics-informed machine learning
Publications
2024
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Dyrhaug, Jan Inge;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Robust Interaction using Generalized Super-Twisting Impedance Control.
IFAC-PapersOnLine
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
2023
-
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
Journal publications
-
Dyrhaug, Jan Inge;
Pettersen, Kristin Ytterstad;
Gravdahl, Jan Tommy.
(2024)
Robust Interaction using Generalized Super-Twisting Impedance Control.
IFAC-PapersOnLine
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
-
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
Outreach
2024
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Academic lectureDyrhaug, Jan Inge; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Robust Interaction using Generalized Super-Twisting Impedance Control. International Federation of Automatic Control (IFAC) 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles (CAMS) 2024 , Blacksburg, VA 2024-09-03 - 2024-09-05
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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. AACC og IFAC 4th Modeling, Estimation and Control Conference (MECC) , Chicago 2024-10-27 - 2024-10-30
2023
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Academic 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. International Federation of Automatic Control (IFAC) IFAC World Congress 2023 , Yokohama 2023-07-10 - 2023-07-14