Control-Systems

Two courses, one rig: pole placement and Kalman filtering in TTK4115, then optimal trajectory control with QP, MPC, and SQP in TTK4135.

Adaptive backstepping controller for dynamic positioning of an AUV, using a quaternion error-state formulation to avoid gimbal lock.

Constrained and pseudoinverse thrust allocation for Vortex NTNU’s AUV, based on Fossen’s formulations.