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
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
- (2021) Global Asymptotic Tracking for Marine Surface Vehicles using Hybrid Feedback in the Presence of Parametric Uncertainties. Proc. 2021 American Control Conference.
- (2020) Hysteretic Control Lyapunov Functions with Application to Global Asymptotic Tracking for Underwater Vehicles. 2020 59th IEEE Conference on Decision and Control (CDC).
- (2018) Modeling of Articulated Underwater Robots for Simulation and Control. Proceedings 2018 IEEE 0E5 Autonomous Underwater Vehicle Rectorate Building, Porto University, Porto, Portugal.