25 citations · 29 across the 5 of their papers we have counts for
3 papers · 1 filter
Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion
Mads Erlend Bøe Lysø, Esten Ingar Grøtli, Kristin Ytterstad Pettersen
In this paper, we improve upon a method for optimal control of quadrupedal robots which utilizes a full-order model of the system. The original method utilizes offline nonlinear op…
A Levenberg-Marquardt algorithm for sparse identification of dynamical systems
Mark Haring, Esten Ingar Grøtli, Signe Riemer-Sørensen +2
Low complexity of a system model is essential for its use in real-time applications. However, sparse identification methods commonly have stringent requirements that exclude them f…
Backstepping-based Integral Sliding Mode Control with Time Delay Estimation for Autonomous Underwater Vehicles
Hossein Nejatbakhsh Esfahani, Behdad Aminian, Esten Ingar Grøtli +1
The aim of this paper is to propose a high performance control approach for trajectory tracking of Autonomous Underwater Vehicles (AUVs). However, the controller performance can be…