Jan Inge Dyrhaug
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