Background and activities

PhD Topic: Modeling and Control of Hyper-Redundant Underwater Manipulators

The project will result in mathematical models and control algorithms for underwater robots with many degrees of freedom. This includes classical underwater manipulators as well as designs inspired by for instance snakes. 

Supervisor: Asgeir J. Sørensen

Co-supervisors: Kristin Y. PettersenMarilena Greco

Scientific, academic and artistic work

A selection of recent journal publications, artistic productions, books, including book and report excerpts. See all publications in the database

Part of book/report

  • Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad. (2020) Hysteretic Control Lyapunov Functions with Application to Global Asymptotic Tracking for Underwater Vehicles. 2020 59th IEEE Conference on Decision and Control (CDC).
  • Schmidt-Didlaukies, Henrik; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2018) Modeling of Articulated Underwater Robots for Simulation and Control. Proceedings 2018 IEEE 0E5 Autonomous Underwater Vehicle Rectorate Building, Porto University, Porto, Portugal.