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Controlling a Chain of Integrators with Constrained Actuation Using Exponential Activation Functions
(Peer reviewed; Chapter; Bokkapittel, 2019-10-24)
This paper shows how to control a chain of integrators with constrained actuation by using exponential activation functions. Specifically, it shows how the control law can be decomposed into several parts that can be activated as they are required, resulting in a simple control law that is able to make the states converge fast to zero.
PD+ based trajectory tracking of the underactuated quadrotor platform using dual quaternions
(Journal article; Tidsskriftartikkel; Peer reviewed, 2019-08-29)
We address the problem of state feedback trajectory tracking of the underactuated quadrotor platform in the dual quaternion framework through a PD+ tracking controller. The control law negates the need of generating a desired attitude trajectory as the translational error is mapped directly onto the rotational actuators through a virtual frame. More precisely, we show uniform practical asymptotic ...
Charging technology for small maritime vessels
(Conference object, 2019-01-21)
Swedish first-year engineering students’ views of mathematics, self-efficacy and motivation and their effect on task performance
(Journal article; Tidsskriftartikkel; Peer reviewed, 2019-08-29)
We examine a group (N = 88) of Swedish first-year engineering students, their motivation, self-efficacy, and beliefs about the nature
of mathematics, and how these relate to their task performance in
mathematics. In our data, engineering students who emphasized the
exact reasoning in their view of mathematics performed significantly
better in a set of mathematical tasks than those who emphasized ...
Dual quaternion control: a review of recent results within motion control
(Journal article; Tidsskriftartikkel; Peer reviewed, 2019-11-24)
This paper presents a review of recent results in the field of dual quaternion based motion control. In addition, we derive two control laws for trajectory tracking control of a fully actuated rigid-body based on the resemblance of dual quaternion kinematics and dynamics to the quaternion based rotational kinematics and dynamics. A velocity error sliding surface and an integrator backstepping ...
Themes within lecturers' views on the teaching of linear algebra
(Journal article; Tidsskriftartikkel; Peer reviewed, 2019-09-25)
This paper reports on themes that arose in an investigation of university lecturers’ views on the teaching of linear algebra. This focus on themes was the initial part of a study concentrating on four areas: What is important to teach in a first course in linear algebra? Are there teaching methods which are particularly suited for such a course? Are there tools that should/should not be used; and ...
Preliminary Results on Waypoint Tracking for Spacecraft with Actuator Constraints
(Peer reviewed; Chapter; Bokkapittel, 2019-07-22)
This paper presents preliminary results on how to perform waypoint tracking with spacecraft with actuator constraints. It considers a simplified spacecraft model and can be considered a deep space model, and shows how to perform waypoint tracking with only one main thruster together with full attitude control. As the spacecraft reaches close to the waypoint during a deceleration phase that makes the ...