2024

• Sadanandan Anand, Akhil; Kaushik, Rituraj; Gravdahl, Jan Tommy; Abu-Dakka, Fares J.. (2024) Data-Efficient Reinforcement Learning for Variable Impedance Control. IEEE Access
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Iversflaten, Markus Høgevoll; Schmidt-Didlaukies, Henrik; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2024) Centralized Underwater Cooperative Transport with Safety Constraints. IFAC-PapersOnLine
  Vitenskapelig artikkel
• 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. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• Sæbø, Bjørn Kåre; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2024) Kinematic Task-Priority Path Following for Articulated Marine Vehicles. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Evjemo, Linn Danielsen; Hassel, Trond Arne; Njaastad, Eirik B; Adel, Salar; Onstein, Ingrid Fjordheim; Arbo, Mathias Hauan. (2024) Possibilities and challenges of using robot manipulators in additive manufacturing (AM). Routledge
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Tveter, Erling; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Power-Based Safety Constraint for Redundant Robotic Manipulators. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Dyrhaug, Jan Inge; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Robust Interaction using Generalized Super-Twisting Impedance Control. IFAC-PapersOnLine
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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. Routledge
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel

2023

• Seel, Katrine; Bemporad, Alberto; Gros, Sebastien Nicolas; Gravdahl, Jan Tommy. (2023) Variance-Based Exploration for Learning Model Predictive Control. IEEE Access
  Vitenskapelig artikkel
• 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. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Sadanandan Anand, Akhil; Gravdahl, Jan Tommy; Abu-Dakka, Fares J.. (2023) Model-based variable impedance learning control for robotic manipulation. Robotics and Autonomous Systems
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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)
  Vitenskapelig artikkel
• Nicolai, Tim; Haring, Mark; Grøtli, Esten Ingar; Gravdahl, Jan Tommy; Reger, Johann. (2023) Realizing LTI models by identifying characteristic parameters using least squares optimization. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Kristiansen, Bjørn Andreas; Gravdahl, Jan Tommy. (2023) Maximum Hands-Off Attitude Control of a Spacecraft Actuated by Thrusters. IFAC-PapersOnLine
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Kristiansen, Bjørn Andreas; Gravdahl, Jan Tommy; Johansen, Tor Arne. (2023) Energy and Time Optimal Spacecraft Attitude Control and Operations. Norges teknisk-naturvitenskapelige universitet Doctoral theses at NTNU
  Doktorgradsavhandling
• Nysæther, Torje; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Hierarchical Compliance-Control-Based Docking of a UVMS. OCEANS
  Vitenskapelig artikkel
• D'Antuono, Gianluca; Pettersen, Kristin Ytterstad; Buonocore, Luca Rosario; Gravdahl, Jan Tommy; Di Castro, Mario. (2023) Dynamic model of a tendon-actuated snake robot using the Newton-Euler formulation. IFAC Papers Online
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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 . IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Seel, Katrine; Gravdahl, Jan Tommy; Gros, Sebastien Nicolas; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad; Moe, Signe. (2023) Learning for Model Predictive Control. NTNU
  Doktorgradsavhandling

2022

• Seel, Katrine; Kordabad, Arash Bahari; Gros, Sebastien; Gravdahl, Jan Tommy. (2022) Convex Neural Network-Based Cost Modifications for Learning Model Predictive Control. IEEE Open Journal of Control Systems
  Vitenskapelig artikkel
• Orucevic, Amer; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Chaillet, Antoine. (2022) Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Sadanandan Anand, Akhil; Myrestrand, Martin Hagen; Gravdahl, Jan Tommy. (2022) Evaluation of Variable Impedance-and Hybrid Force/MotionControllers for Learning Force Tracking Skills. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Sæbø, Bjørn Kåre; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2022) Robust Task-Priority Impedance Control for Vehicle-Manipulator Systems. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Schaanning, Sigrid Kjønnø; Kristiansen, Bjørn Andreas; Gravdahl, Jan Tommy. (2022) Maximum Hands-Off Attitude Control. American Control Conference (ACC)
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel

2021

• 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
  Vitenskapelig artikkel
• 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)
  Vitenskapelig artikkel
• Kristiansen, Bjørn Andreas; Gravdahl, Jan Tommy; Johansen, Tor Arne. (2021) Energy optimal attitude control for a solar-powered spacecraft. European Journal of Control
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Frida, Viset; Gravdahl, Jan Tommy; Kok, Manon. (2021) Magnetic field norm SLAM using Gaussian process regression in foot-mounted sensors. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Sterud, Camilla; Moe, Signe; Gravdahl, Jan Tommy. (2021) Stable and robust neural network controllers. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Moltumyr, Andreas Hanssen; Arbo, Mathias Hauan; Gravdahl, Jan Tommy. (2021) Output Maneuvering for Cartesian 3D Printer. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Kristiansen, Bjørn Andreas; Grøtte, Mariusz Eivind; Gravdahl, Jan Tommy. (2021) Quaternion-Based Generalized Super-Twisting Algorithm for Spacecraft Attitude Control. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Moltumyr, Andreas Hanssen; Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy. (2021) Fractional-order Control: Nyquist Constrained Optimization. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Arbo, Mathias Hauan; Eriksen, Ivar; Sanfilippo, Filippo; Gravdahl, Jan Tommy. (2021) Comparison of KVP and RSI for Controlling KUKA Robots Over ROS. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Onstein, Ingrid Fjordheim; Evjemo, Linn Danielsen; Gravdahl, Jan Tommy. (2021) Additive Manufacturing Path Generation for Robot Manipulators Based on CAD Models. IFAC-PapersOnLine
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Evjemo, Linn Danielsen; Moe, Signe; Gravdahl, Jan Tommy. (2021) Robotised Wire Arc Additive Manufacturing Using Set-based Control: Experimental Results. IFAC-PapersOnLine
  Vitenskapelig artikkel
• 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. International Astronautical Federation
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel

2020

• Moe, Signe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Set-based collision avoidance applications to robotic systems. Mechatronics (Oxford)
  Vitenskapelig artikkel
• Neverlien, Åse Victoria; Moe, Signe; Gravdahl, Jan Tommy. (2020) Compressor Surge Control Using Lyapunov Neural Networks. MIC Journal: Modeling, Identification and Control
  Vitenskapelig artikkel
• Moe, Signe; Remonato, Filippo; Grøtli, Esten Ingar; Gravdahl, Jan Tommy. (2020) Linear Antisymmetric Recurrent Neural Networks. Proceedings of Machine Learning Research (PMLR)
  Vitenskapelig artikkel
• Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Combined Kinematic and Dynamic Control of Vehicle-Manipulator Systems. Mechatronics (Oxford)
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) The generalized super-twisting algorithm with adaptive gains. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Moltumyr, Andreas Hanssen; Arbo, Mathias Hauan; Gravdahl, Jan Tommy. (2020) Towards Vision-based Closed-loop Additive Manufacturing: A Review. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• Wrzos-Kaminska, Marianna; Mylvaganam, Thulasi; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel

2019

• Evjemo, Linn Danielsen; Langelandsvik, Geir; Gravdahl, Jan Tommy. (2019) Wire arc additive manufacturing by robot manipulator: Towards creating complex geometries. IFAC-PapersOnLine
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Astad, Morten Andre; Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy. (2019) Vive for Robotics: Rapid Robot Cell Calibration. IEEE Press
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• Hassani, Vahid; Fjellvang, Snorre Ludvig; Auestad, Øyvind Fidje; Gravdahl, Jan Tommy. (2019) Adaptive Boarding Control System in Surface Effect Ships. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Johannessen, Lill Maria Gjerde; Arbo, Mathias Hauan; Gravdahl, Jan Tommy. (2019) Robot Dynamics with URDF & CasADi. IEEE Press
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Moltumyr, Andreas Hanssen; Gravdahl, Jan Tommy; Ragazzon, Michael Remo Palmén. (2019) Control in Atomic Force Microscopy: A Fractional Order Approach. Norges Tekniske og Naturvitenskapelige Universitet
  Mastergradsoppgave
• 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. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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)
  Vitenskapelig artikkel

2018

• 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
  Vitenskapelig artikkel
• Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2018) Parameter Estimation in Atomic Force Microscopy: Nanomechanical Properties and High-speed Demodulation. Doktoravhandlinger ved NTNU (146)
  Doktorgradsavhandling
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Backi, Christoph Josef; Gravdahl, Jan Tommy; Skogestad, Sigurd. (2018) Simple method for parameter identification of a nonlinear Greitzer compressor model. IFAC-PapersOnLine
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Kelasidi, Eleni; Jesmani, Mansoureh; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2018) Locomotion efficiency optimization of biologically inspired snake robots. Applied Sciences
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Arbo, Mathias Hauan; Gravdahl, Jan Tommy. (2018) Stability of the Tracking Problem with Task-Priority Inverse Kinematics. IFAC-PapersOnLine
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Moe, Signe; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2018) Set-Based Control for Autonomous Spray Painting. IEEE Transactions on Automation Science and Engineering
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel

2017

• 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
  Vitenskapelig artikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Strømsøyen, Simen; Sørensen, Asgeir Johan. (2017) Modeling and Propulsion Methods of Underwater Snake Robots. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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)
  Vitenskapelig artikkel
• Tuffaha, Mutaz; Gravdahl, Jan Tommy. (2017) Discrete state-space model to solve the unit commitment and economic dispatch problems. Energy Systems, Springer Verlag
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Vagia, Marialena. (2017) Viscoelastic properties of cells: Modeling and identification by atomic force microscopy. Mechatronics (Oxford)
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Uddin, Nur; Gravdahl, Jan Tommy. (2017) Compressor Surge Control Design Using Linear Matrix Inequality Approach. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Sverdrup-Thygeson, Jørgen; Moe, Signe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Kohl, Anna M; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Velocity and orientation control of underwater snake robots using absolute velocity feedback. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel

2016

• Kelasidi, Eleni; Kohl, Anna Magdalena; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Waypoint guidance control for underwater snake robots exposed to ocean currents. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Uddin, Nur; Gravdahl, Jan Tommy. (2016) Active Compressor Surge Control System by Using Piston Actuation: Implementation and Experimental Results. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots. IEEE robotics & automation magazine
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Hofmann, Andreas. (2016) Formation Control of Underactuated Bio-inspired Snake Robots. Artificial Life and Robotics
  Vitenskapelig artikkel
• Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Modeling of underwater swimming manipulators. IFAC-PapersOnLine
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Uddin, Nur; Gravdahl, Jan Tommy. (2016) Two General State Feedback Control Laws for Compressor Surge Stabilization. Mediterranean Conference on Control and Automation (MED)
  Vitenskapelig artikkel
• 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)
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Ragazzon, Michael Remo Palmén; Vagia, Marialena; Gravdahl, Jan Tommy. (2016) Cell Mechanics Modeling and Identification by Atomic Force Microscopy. IFAC-PapersOnLine
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) The Underwater Swimming Manipulator - A Bio-Inspired AUV. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2016) Locomotion Efficiency of Underwater Snake Robots with Thrusters. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Fleming, Andrew J.. (2016) On Amplitude Estimation for High-Speed Atomic Force Microscopy. American Control Conference (ACC)
  Vitenskapelig artikkel
• Backi, Christoph Josef; Leth, John; Gravdahl, Jan Tommy. (2016) Optimal boundary control of a contact thawing process for foodstuff. IFAC-PapersOnLine
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel

2015

• 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
  Vitenskapelig artikkel
• Tuffaha, Mutaz; Gravdahl, Jan Tommy. (2015) Dynamic Formulation of the Unit Commitment and Economic Dispatch problems. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Utstumo, Trygve; Dørum, Jarle; Gravdahl, Jan Tommy. (2015) Experimental comparison of adaptive controllers for trajectory tracking in agricultural robotics. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Gale, Serge; Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy. (2015) Modelling and simulation of a flywheel based energy storage system for an industrial manipulator. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Utstumo, Trygve; Berge, Therese W.; Gravdahl, Jan Tommy. (2015) Non-linear model predictive control for constrained robot navigation in row crops. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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)
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Backi, Christoph Josef; Gravdahl, Jan Tommy. (2015) Modeling, Estimation and Control of Freezing and Thawing Processes - Theory and Applications. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (2015:323)
  Doktorgradsavhandling
• Kohl, Anna; Pettersen, Kristin Ytterstad; Kelasidi, Eleni; Gravdahl, Jan Tommy. (2015) Analysis of underwater snake robot locomotion based on a control-oriented model. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) Energy efficiency of underwater robots. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Leang, Kam K.. (2015) Low-order continuous-time robust repetitive control: Application in nanopositioning. Mechatronics (Oxford)
  Vitenskapelig artikkel
• Uddin, Nur; Gravdahl, Jan Tommy. (2015) Bond graph modeling of centrifugal compression systems. Simulation (San Diego, Calif.)
  Vitenskapelig artikkel
• 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. Elsevier
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Utstumo, Trygve; Dørum, Jarle; Arbo, Mathias Hauan; Berge, Therese W.; Goldberg, Steve; Overskeid, Øyvind. (2015) Asterix - Automatisk ugraskontroll i radkulturer.
  Faglig kapittel
• 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
  Vitenskapelig artikkel
• Kohl, Anna; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) A control-oriented model of underwater snake robots exposed to currents. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) Energy efficiency of underwater snake robot locomotion. Mediterranean Conference on Control and Automation (MED)
  Vitenskapelig artikkel

2014

• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) Stability Analysis of Underwater Snake Robot Locomotion Based on Averaging Theory. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Liljebäck, Pål. (2014) Body Shape and Orientation Control for Locomotion of Biologically-Inspired Snake Robots. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• 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. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• From, Pål Johan; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2014) Vehicle-Manipulator Systems. Springer Advances in Industrial Control (1)
  Vitenskapelig monografi
• 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)
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Liljebäck, Pål. (2014) Modeling of underwater snake robots. Curran Associates, Inc.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) Mamba - A waterproof snake robot with tactile sensing. Curran Associates, Inc.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2014) A 3D motion planning framework for snake robots. Curran Associates, Inc.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2014) Compliant Control of the Body Shape of Snake Robots. Curran Associates, Inc.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Auestad, Øyvind Fidje; Gravdahl, Jan Tommy; Sørensen, Asgeir Johan; Espeland, Trygve H.. (2014) Motion Compensation System for a Free Floating Surface Effect Ship. IFAC Papers Online
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• Holden, Christian; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2014) Optimal Dynamic Force Mapping for Obstacle-Aided Locomotion in 2D Snake Robots. IEEE International Conference on Intelligent Robots and Systems. Proceedings
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) Modeling of underwater snake robots moving in a vertical plane in 3D. IEEE International Conference on Intelligent Robots and Systems. Proceedings
  Vitenskapelig artikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) A waypoint guidance strategy for underwater snake robots. Mediterranean Conference on Control and Automation (MED)
  Vitenskapelig artikkel
• 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)
  Vitenskapelig artikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) A Control-Oriented Model of Underwater Snake Robots. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel

2013

• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Snake Robots - Modelling, Mechatronics, and Control. Springer Advances in Industrial Control (.)
  Vitenskapelig monografi
• Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2013) Path Following of Marine Surface Vessels with Saturated Transverse Actuators. American Control Conference (ACC)
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Nygren, Martin; Birkeland, Roger; Gravdahl, Jan Tommy. (2013) Using independent combinations of CubeSat solar panels as sun sensors for separating inbound sunlight information.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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)
  Vitenskapelig artikkel
• Pettersen, Kristin Ytterstad; Liljebäck, Pål; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Snake Robots - From Biology to Nonlinear Control. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Backi, Christoph Josef; Gravdahl, Jan Tommy; Grøtli, Esten Ingar. (2013) Nonlinear observer design for a Greitzer compressor model. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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)
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig oversiktsartikkel/review
• Gale, Serge; Vestheim, Siri; Gravdahl, Jan Tommy; Fjerdingen, Sigurd Aksnes; Schjølberg, Ingrid. (2013) RBF Network Pruning Techniques for Adaptive Learning Controllers. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Eielsen, Arnfinn Aas; Vagia, Marialena; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2013) Damping and Tracking Control Schemes for Nanopositioning. IEEE/ASME transactions on mechatronics
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2013) Path Following Control of Planar Snake Robots Using Virtual Holonomic Constraints. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Utstumo, Trygve; Gravdahl, Jan Tommy. (2013) Implementation and Comparison of Attitude Estimation Methods for Agricultural Robotics. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Backi, Christoph Josef; Gravdahl, Jan Tommy. (2013) Optimal boundary control for the heat equation with application to freezing with phase change. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel

2012

• 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
  Vitenskapelig artikkel
• 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. IEEE International Conference on Intelligent Robots and Systems. Proceedings
  Vitenskapelig artikkel
• 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. IEEE International Conference on Intelligent Robots and Systems. Proceedings
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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)
  Vitenskapelig artikkel
• Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy. (2012) Topics in Control of Nanopositioning Devices. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (315)
  Doktorgradsavhandling
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2012) Snake Robot Locomotion in Environments With Obstacles. IEEE/ASME transactions on mechatronics
  Vitenskapelig artikkel
• Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2012) Adaptive feed-forward hysteresis compensation for piezoelectric actuators. Review of Scientific Instruments
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Backi, Christoph Josef; Gravdahl, Jan Tommy. (2012) Modeling of Freezing of Fish by Vertical Plate Freezers.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Uddin, Nur; Gravdahl, Jan Tommy. (2012) Bond graph modeling of centrifugal compressor system. Curran Associates, Inc.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Leang, Kam K.. (2012) Robust Damping PI Repetitive Control for Nanopositioning. American Control Conference (ACC)
  Vitenskapelig artikkel
• Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy. (2012) Adaptive Control of a Nanopositioning Device. IEEE Conference on Decision and Control. Proceedings
  Vitenskapelig artikkel
• Uddin, Nur; Gravdahl, Jan Tommy. (2012) Introducing Back-up to Active Compressor Surge Control System. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel

2011

• Gravdahl, Jan Tommy. (2011) Kybernetikk Introduksjon: Innføring i dynamikk og reguleringsteknikk. Tapir Akademisk Forlag Tapir Akademisk Forlag
  Kompendium
• 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
  Vitenskapelig artikkel
• Grøtli, Esten Ingar; Chaillet, Antoine; Panteley, Elena; Gravdahl, Jan Tommy. (2011) Optimal controller gain tuning for robust stability of spacecraft formation. Springer
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Uddin, Nur; Gravdahl, Jan Tommy. (2011) Active compressor surge control using piston actuation. The American Society of Mechanical Engineers (ASME)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2011) Experimental investigation of fundamental properties of snake robot locomotion. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2011) A Singularity Free Formulation of the Dynamically Equivalent Manipulator Mapping of Space Manipulators. American Institute of Aeronautics and Astronautics (AIAA)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2011) Singularity-free dynamic equations of spacecraft-manipulator systems. Acta Astronautica
  Vitenskapelig artikkel
• 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. IEEE Press
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Jørgensen, Ulrik; Gravdahl, Jan Tommy. (2011) Observer Based Sliding Mode Attitude Control: Theoretical and Experimental Results. MIC Journal: Modeling, Identification and Control
  Vitenskapelig artikkel
• Uddin, Nur; Gravdahl, Jan Tommy. (2011) Piston-actuated Active Surge Control of Centrifugal Compressor Including Integral Action. International Conference on Control, Automation and Systems
  Vitenskapelig artikkel
• 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)
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• From, Pål Johan; Gravdahl, Jan Tommy; Lillehagen, Tommy; Abbeel, Pieter. (2011) Motion planning and control of robotic manipulators on seaborne platforms. Control Engineering Practice
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel

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. Institute for Systems and Technologies of Information, Control and Communication
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2010) Singularity-Free Dynamic Equations of AUV-Manipulator Systems. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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)
  Vitenskapelig artikkel
• Grøtli, Esten Ingar; Gravdahl, Jan Tommy. (2010) Robust stability and control of spacecraft formations. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (1)
  Doktorgradsavhandling
• From, Pål Johan; Gravdahl, Jan Tommy. (2010) Robust and Optimal Solutions for Autonomous Operation. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (96)
  Doktorgradsavhandling
• 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
  Vitenskapelig artikkel
• 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)
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2010) Singularity-Free Dynamic Equations of Spacecraft-Manipulator Systems. Proceedings of the International Astronautical Congress
  Vitenskapelig artikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) A simplified model of planar snake robot locomotion. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) Fundamental properties of snake robot locomotion. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) Experimental investigation of fundamental properties of snake robot locomotion. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) A simplified model of planar snake robot locomotion. IEEE International Conference on Intelligent Robots and Systems. Proceedings
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) Fundamental properties of snake robot locomotion. IEEE International Conference on Intelligent Robots and Systems. Proceedings
  Vitenskapelig artikkel

2009

• From, Pål Johan; Gravdahl, Jan Tommy. (2009) Representing sets of orientations as convex cones. IEEE International Conference on Robotics and Automation (ICRA)
  Vitenskapelig artikkel
• 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)
  Vitenskapelig artikkel
• Kristiansen, Raymond; Nicklasson, Per Johan; Gravdahl, Jan Tommy. (2009) Satellite Attitude Control by Quaternion-Based Backstepping. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• From, Pål Johan; Gravdahl, Jan Tommy. (2009) Fault Tolerance of Parallel Manipulators with Passive Joints. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy. (2009) Output feedback control of relative spacecraft attitude. European Union Control Association
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• From, Pål Johan; Gravdahl, Jan Tommy. (2009) Real-time Optimal Trajectory Planning for Robotic Manipulators with Functional Redundancy. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2009) Controllability analysis of planar snake robots influenced by viscous ground friction. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2009) Stability analysis of snake robot locomotion based on Poincaré maps. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2009) Proceedings IEEE International Conference on Intelligent Robots and Systems. IEEE conference proceedings IEEE conference proceedings
  Vitenskapelig antologi/Konferanseserie

2008

• Kristiansen, Raymond; Nicklasson, Per Johan; Gravdahl, Jan Tommy. (2008) Spacecraft coordination control in 6DOF: integrator backstepping vs passivity-based control. Automatica
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• From, Pål Johan; Gravdahl, Jan Tommy. (2008) Considering Passive Joints in Cooperative Manipulation as Functional Redundancy. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• From, Pål Johan; Gravdahl, Jan Tommy. (2008) General Solutions to Functional and Kinematic Redundancy. MIC Journal: Modeling, Identification and Control
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Hovland, Svein; Gravdahl, Jan Tommy. (2008) Complexity Reduction in Explicit MPC through Model Reduction. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Grøtli, Esten Ingar; Gravdahl, Jan Tommy. (2008) Output attitude tracking of formation of spacecraft. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Paul, Tobias; Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy. (2008) Modelling of UAV formation flight using 3D potential field. Simulation modelling practice and theory
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Bohagen, B; Gravdahl, Jan Tommy. (2008) Active surge control of compression system using drive torque. Automatica
  Vitenskapelig artikkel
• Hovland, Svein; Gravdahl, Jan Tommy. (2008) Model Reduction and Control in Computational Fluid Dynamics. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (274)
  Doktorgradsavhandling
• From, Pål Johan; Gravdahl, Jan Tommy. (2008) On the Equivalence of Orientation Error and Positive Definiteness of Matrices. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Grøtli, Esten Ingar; Gravdahl, Jan Tommy. (2008) Formation Control by Quantized Output Feedback. European Space Agency
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Paul, Tobias; Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy. (2008) UAV Formation Flight using 3D Potential Field. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel

2007

• Krogstad, Thomas R.; Kristiansen, Raymond; Gravdahl, Jan Tommy; Nicklasson, Per Johan. (2007) PID+ backstepping control of relative spacecraft attitude.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Grøtli, Esten Ingar; Gravdahl, Jan Tommy. (2007) Passivity based controller-observer schemes for relative translation of a formation of spacecraft. American Control Conference (ACC)
  Vitenskapelig artikkel
• Bøhagen, Bjørnar; Gravdahl, Jan Tommy. (2007) Active surge control of centrifugal compression systems Theoretical and experimental results of drive actuation . Norwegian University of Science and Technology
  Doktorgradsavhandling
• Kristiansen, Raymond; Krogstad, Thomas Røbekk; Nicklasson, Per Johan; Gravdahl, Jan Tommy. (2007) Spacecraft coordination control using PID backstepping. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Kristiansen, Raymond; Nicklasson, Per Johan; Gravdahl, Jan Tommy. (2007) Formation Modelling and 6DOF Spacecraft Coordination Control. American Control Conference (ACC)
  Vitenskapelig artikkel
• Bøhagen, Bjørnar; Gravdahl, Jan Tommy. (2007) Circle criterion observer for a compression system. American Control Conference (ACC)
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• From, Pål Johan; Gravdahl, Jan Tommy. (2007) Representing attitudes as sets of frames. American Control Conference (ACC)
  Vitenskapelig artikkel
• Gravdahl, Jan Tommy; Egeland, Olav. (2007) New undergraduate courses in control. MIC Journal: Modeling, Identification and Control
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel

2006

• Gravdahl, Jan Tommy. (2006) Editorial, special Issue SIMS2005. MIC Journal: Modeling, Identification and Control
  Leder
• Hovland, Svein; Gravdahl, Jan Tommy. (2006) Stabilizing a CFD model of an unstable system through model reduction. MIC Journal: Modeling, Identification and Control
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy. (2006) Coordinated attitude control of satellites in formation. Lecture notes in control and information sciences
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Hovland, Svein; Gravdahl, Jan Tommy. (2006) Order Reduction and Output Feedback Stabilization of an Unstable CFD Model. American Control Conference (ACC)
  Vitenskapelig artikkel
• Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Nijmeijer, Henk. (2006) Group Coordination and Cooperative Control. Springer Lecture notes in control and information sciences (May 2006)
  Vitenskapelig antologi/Konferanseserie
• 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
  Vitenskapelig artikkel

2005

• 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. Preprint / Narvik University College (3/2005)
  Rapport
• Kristiansen, Raymond; Nicklasson, Per Johan; Gravdahl, Jan Tommy. (2005) Satellite attitude control by quaternion-based backstepping. Preprint / Narvik University College (5/2005)
  Rapport
• 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
  Vitenskapelig antologi/Konferanseserie
• Gravdahl, Jan Tommy. (2005) Kybernetikk Introduksjon: Innføring i dynamikk og reguleringsteknikk. Tapir Akademisk Forlag Tapir Akademisk Forlag
  Kompendium
• Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy; Kristiansen, Raymond. (2005) Attitude control of satellites in clusters. Tapir trykk
  Mastergradsoppgave
• 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. Tapir Akademisk Forlag
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Sunde, Bernt-Ove; Gravdahl, Jan Tommy. (2005) Attitude Determination for the student satellite nCubeII: Kalman Filter.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy; Tøndel, Johan Petter. (2005) Attitude control and stability analysis of satellites in earth and moon orbit.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy; Kristiansen, Raymond. (2005) Coordinated control of satellites: the attitude case.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy; Tøndel, Johan Petter. (2005) Explicit model predictive control of a satellite with magnetic torquers. IEEE Press
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Hovland, Svein; Gravdahl, Jan Tommy. (2005) Stabilizing a CFD model of an unstable system. Tapir Akademisk Forlag
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• 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)
  Vitenskapelig artikkel
• Hegrenæs, Øyvind; Gravdahl, Jan Tommy; Tøndel, Johan Petter. (2005) Spacecraft Attitude Control using Explicit Model Predictive Control. Automatica
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Kristiansen, Raymond; Nicklasson, Per Johan; Gravdahl, Jan Tommy. (2005) Satellite attitude tracking by quaternion-based backstepping. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel

2004

• Kristiansen, Raymond; Nicklasson, Per Johan; Gravdahl, Jan Tommy. (2004) Satellite attitude tracking by quaternion-based backstepping. Preprint / Narvik University College (No. 11/2004)
  Rapport
• Gravdahl, Jan Tommy; Egeland, Olav. (2004) New undergraduate courses in control. Control Systems Magazine
  Vitenskapelig artikkel
• Gravdahl, Jan Tommy; Willems, Frank; Egeland, Olav; De Jager, Bram. (2004) Modeling of surge in variable speed centrifugal compressors: Experimental validation. Journal of Propulsion and Power
  Vitenskapelig artikkel
• Gravdahl, Jan Tommy. (2004) Kybernetikk Introduksjon: Innføring i dynamikk og reguleringsteknikk. Institutt for teknisk kybernetikk
  Kompendium
• Topland, Morten Pedersen; Gravdahl, Jan Tommy. (2004) Nonlinear Attitude Control of the Micro-Satellite ESEO. NTNU
  Mastergradsoppgave
• 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.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel

2002

• Gravdahl, Jan Tommy; Egeland, Olav; Vatland, Svein. (2002) Drive torque actuation in active surge control of centrifugal compressors. Automatica
  Vitenskapelig artikkel
• Egeland, Olav; Gravdahl, Jan Tommy. (2002) Modeling and simulation for automatic control. Marine Cybernetics
  Lærebok

2001

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

1999

• Gravdahl, Jan Tommy; Egeland, Olav. (1999) Centrifugal compressor surge and speed control. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel

1998

• Gravdahl, Jan Tommy; Egeland, Olav. (1998) Speed and surge control for a low order centrifugal compressor model. MIC Journal: Modeling, Identification and Control
  Vitenskapelig artikkel
• Gravdahl, Jan Tommy; Egeland, Olav. (1998) Compressor surge and rotating stall: Modeling and control. Springer Springer
  Fagbok
• Gravdahl, Jan Tommy. (1998) Modeling and control of surge and rotating stall in compressors. ITK-rapport 1998:6-W
  Doktorgradsavhandling