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J.T. Gravdahl: Publications 1994-2024

Books

  1. J.T. Gravdahl and O. Egeland, "Compressor surge and rotating stall: Modeling and control ", Series: Advances in Industrial Control, ISBN 978-1-4471-1211-2, Springer Verlag, London, 1999
  2. O. Egeland and Gravdahl, J.T.,"Modeling and simulation for automatic control", Marine Cybernetics, Trondheim, 2002
  3. P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl, Snake Robots: Modelling, Mechatronics, and Control, Series: Advances in Industrial Control, ISBN: 978-1-4471-2995-0, Springer-Verlag, 2013
  4. P.J. From, J.T. Gravdahl and K.Y. Pettersen, Vehicle-Manipulator Systems: Modeling for Simulation, Analysis, and Control, Series: Advances in Industrial Control, ISBN 978-1-4471-5462-4, Springer-Verlag, London, 2014

Edited volumes

  1. J.A. Amundsen, H.I. Andersson, E. Celledoni, J.T. Gravdahl, H. Nagel and T. Natvig (Eds.), "SIMS 2005, 46th Conference on Simulation and Modeling", ISBN 82-519-2093-0, Tapir Akademisk Forlag, Trondheim, 2005
  2. K.Y. Pettersen, Gravdahl, J.T.; Nijmeijer, H. (Eds.), "Group Coordination and Cooperative Control", Series: Lecture Notes in Control and Information Sciences, Vol. 336, ISBN: 3-540-33468-8, Springer Verlag, Heidelberg, 2006

Journal papers

Published

  1. E.L. Foseid, E.A. Basso, H.M. Schmidt-Didlaukies, K.Y. Pettersen and J.T.Gravdahl, Line-of-Sight Guidance: Learning to Look Ahead, IEEE Journal of Oceanic Engineering, 2025, doi: 10.1109/JOE.2024.3503765
  2. D.D. Langer, J.L. Garret, B.A. Kristiansen, S. Bakken, S. Berg, R. Birkeland, J.T. Gravdahl, T.A. Johansen and A.J. Sørensen, Agile Maneuvers for Push-Broom Imaging Satellites, IEEE Transactions on Geoscience and Remote Sensing, 2024, doi: 10.1109/TGRS.2024.3517696
  3. I.F. Onstein, Å.S. Linnerud, K. Martinsen, and J.T. Gravdahl, Adaptive Tool Trajectory Generation for Robotic Deburring using Structured Light 3D Camera sensor, Procedia CIRP, vol. 130, Pages 885-889, 2024, doi: 10.1016/j.procir.2024.10.180
  4. A. Orucevic, M. Wrzos-Kaminska, M.E.B Lysø, J.T. Gravdahl and K.Y. Pettersen, Automatic Alignment of Underwater Snake Robots Operating in Wakes of Bluff Bodies, Control Eengineering Practice, vol. 147, 2024, doi: 10.1016/j.conengprac.2024.105904
  5. B.A. Kristiansen, J.T. Gravdahl, S. Gros, T.A. Johansen, Energy Optimal Attitude Control and Task Execution for a Solar-Powered Spacecraft, IEEE Transactions on Control Systems Technology (T-CST), 2024, doi: 10.1109/TCST.2024.3356392
  6. R. Kristiansen, H.L. Ørke and J.T. Gravdahl, Modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels, Simulation Modelling Practice and Theory, Volume 130, 2024, 10.1016/j.simpat.2023.102866
  7. A.S. Anand, R. Kaushik, J.T. Gravdahl, F.J. Abu-Dakka, Data-efficient Reinforcement Learning for Variable Impedance Control, IEEE Access, vol. 12, pp. 15631-15641, 2024, doi: 10.1109/ACCESS.2024.3355311
  8. A. Orucevic, M. Wrzos-Kaminska, J.T. Gravdahl and K.Y. Pettersen, Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots, IEEE Transactions on Control Systems Technology (TCST), 32(5), pp. 1631-1646, 2024, doi: 10.1109/TCST.2023.3345211
  9. E.J. Haugstvedt, A.M. Calero, E.T.B. Lundby, A. Rasheed, J.T. Gravdahl, A comparative study of sparsity promoting techniques in neural network for modeling non-linear dynamics, IEEE Access, Vol. 11, pp. 131435 - 131452, 2023, doi: 10.1109/ACCESS.2023.3336292
  10. A.S. Anand, J.T. Gravdahl, F. Abu-Dakka, Model-based Variable Impedance Learning Control for Robotic Manipulation, Robotics and Autonomous Systems, pp. 104531, 2023, 10.1016/j.robot.2023.104531
  11. H. Robinson, E.T.B. Lundby, A. Rasheed, J.T. Gravdahl, Deep learning assisted physics-based modeling of aluminum extraction process, Engineering Applications of Artificial Intelligence, vol. 125, pp. 106623, 2023, 10.1016/j.engappai.2023.106623
  12. E.T.B. Lundby, A. Rasheed, J.T. Gravdahl and I.J. Halvorsen, Sparse deep neural networks for modeling aluminum electrolysis dynamics, Applied Soft Computing, Volume 134, 2023, 10.1016/j.asoc.2023.109989
  13. K. Seel, A. Bemporad, S. Gros and J. T. Gravdahl, Variance-based Exploration for Learning Model Predictive Control, IEEE Access, Vol. 11, pp. 60724-60736, 2023, doi: 10.1109/ACCESS.2023.3282842
  14. K. Seel, A.B. Kordabad, S. Gros and J.T. Gravdahl, Convex Neural Network-based Cost Modifications for Learning Model Predictive Control, IEEE Open Journal of Control Systems (OJ-CSYS), vol. 1, pp. 366-379, 2022, doi: 10.1109/OJCSYS.2022.3221063
  15. M.R.P. Ragazzon, S. Messineo, J.T. Gravdahl, D. Harcombe, M.G. Ruppert, The Generalized Lyapunov Demodulator: High-Bandwidth, Low-Noise Amplitude and Phase Estimation, 2022, IEEE Open Journal of Control Systems (OJ-CSYS), 2022, DOI:10.1109/OJCSYS.2022.3181111
  16. I.-L. G. Borlaug, K.Y. Pettersen and J.T. Gravdahl, The generalized super-twisting algorithm with adaptive gains, International Journal of Robust and Nonlinear Control, 32(13), pp. 7240--7270. 2022, DOI:10.1002/rnc.6212
  17. L.D. Evjemo, G. Langelandsvik, S. Moe, M.H. Danielsen and J.T. Gravdahl, Wire-arc additive manufacturing of structures with overhang: Experimental results depositing material onto fixed substrate, CIRP Journal of Manufacturing Science and Technology, Vol. 38, pp. 186-203, August, 2022
  18. M.E. Grøtte, R. Birkeland, E. Honoré-Livermore, S. Bakken, J.L. Garrett, E.F. Prentice, F. Sigernes, M. Orlandic, J.T. Gravdahl and T.A. Johansen, Ocean Color Hyperspectral Remote Sensing with High Resolution and Low Latency – the HYPSO-1 CubeSat Mission, IEEE Transactions on Geoscience and Remote Sensing (TGRS), vol. 60, pp. 1-19, 2022, DOI:10.1109/TGRS.2021.3080175
  19. S. Messineo, M.R.P. Ragazzon, F. Busnelli, J.T. Gravdahl, Analysis of PI-control for Atomic Force Microscopy in Contact Mode, IEEE Transactions on Control Systems Technology (T-CST), 2021
  20. B.A. Kristiansen, J.T. Gravdahl, T.A. Johansen, Energy optimal attitude control for a solar-powered spacecraft, European Journal of Control, Volume 62, Pages 192-197, November, 2021
  21. E.T.B. Lundby, A. Rasheed, J.T. Gravdahl and I.J. Halvorsen, A novel hybrid analysis and modelling approach with application to the aluminum extraction process, Journal of process control, vol. 105, pp. 62--77, 2021
  22. I.-L. G. Borlaug, K.Y. Pettersen and J.T. Gravdahl, Comparison of two second-order sliding mode control algorithms for an articulated intervention-AUV: Theory and experimental results, Ocean Engineering, vol 222, 2021, DOI: 10.1016/j.oceaneng.2020.108480
  23. C.J. Backi, S. Skogestad and J.T. Gravdahl, Combined State and Parameter Estimation for not Fully Observable Dynamic Systems, IFAC Journal of Systems and Control, vol 13, September, 2020, DOI: 10.1016/j.ifacsc.2020.100103
  24. S. Moe, K.Y. Pettersen and J.T. Gravdahl, Set-based Collision Avoidance: Application to robotic systems, Mechatronics, vol. 69, August, 2020, DOI: 10.1016/j.mechatronics.2020.102399
  25. I.-L. G. Borlaug, K.Y. Pettersen and J.T. Gravdahl, Combined Kinematic and Dynamic Control of Vehicle-Manipulator Systems, Mechatronics, vol. 69, August, 2020, DOI: 10.1016/j.mechatronics.2020.102380
  26. Å.V. Neverlien, S. Moe and J.T. Gravdahl, Compressor Surge Control Using Lyapunov Neural Networks, Modeling, Identification and Control (MIC), 41(2), pp.41--49, 10.4173/mic.2020.2.1
  27. I.-L. G. Borlaug, K.Y. Pettersen and J.T. Gravdahl, Tracking control of an articulated intervention AUV in 6DOF using generalized super-twisting: Theory and Experiments, IEEE Transactions on Control Systems Technology (T-CST), 1-17, 2020, 10.1109/TCST.2020.2977302
  28. E. Oland, R. Kristiansen. J.T. Gravdahl, A Comparison Study of Different Control Structures for Flight Control with New Results, IEEE Transactions on Control Systems Technology (T-CST), 28(2), pp. 291--305, 2020, DOI: 10.1109/TCST.2018.2873507
  29. M.R.P. Ragazzon, J. T. Gravdahl and K.Y. Pettersen, Model-based identification of nanomechanical properties in atomic force microscopy: Theory and experiments, IEEE Transactions on Control Systems Technology, 27(5), pp. 2045--2057, 2019 DOI: 10.1109/TCST.2018.2847644
  30. E. Kelasidi, S. Moe, K.Y. Pettersen, A.M. Kohl, P. Liljebäck and J.T. Gravdahl, Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots, Frontiers in Robotics and AI, July, 2019, DOI: 10.3389/frobt.2019.00057
  31. I.-L. G. Borlaug, J.T. Gravdahl, J. Sverdrup-Thygeson, K.Y. Pettersen and A. Loria, Trajectory tracking for underwater swimming manipulators using a super twisting algorithm, Asian Journal of Control, 21(1), pp. 208--223, January, 2019, DOI: 10.1002/asjc.1840
  32. E. Kelasidi, A.M. Kohl, K.Y. Pettersen, B.H. Hoffmann, J.T. Gravdahl, Experimental Investigation of Locomotion Efficiency and Path-Following for Underwater Snake Robots with and without a Caudal Fin, Annual Reviews in Control, 2018, DOI: 10.1016/j.arcontrol.2018.10.001
  33. T. Utstumo, F. Urdal, A. Brevik, J. Dørum, J. Netland, Ø. Overskeid, T.W. Berge and J.T. Gravdahl, Robotic in-row weed control for vegetables, Computers and Electronics in Agriculture, vol 154, pp. 36-45, 2018, DOI: 10.1016/j.compag.2018.08.043
  34. S. Moe, J.T. Gravdahl and K.Y. Pettersen, Set-based control for autonomous spray painting, IEEE Transactions on Automation Science and Engineering (T-ASE),15(4), pp. 1785--1796, October, 2018, DOI: 10.1109/TASE.2018.2801382
  35. M.R.P. Ragazzon, M.G. Ruppert, D.M. Harcombe, A.J. Fleming and J.T. Gravdahl, Lyapunov estimator for high-speed amplitude demodulation in dynamic mode atomic force microscopy, IEEE Transactions on Control Systems Technology (T-CST), 26(2), pp. 765--772, 2018, DOI: 10.1109/TCST.2017.2692721
  36. E. Kelasidi, M. Jesmani, K.Y. Pettersen and J.T. Gravdahl, Locomotion efficiency optimization of biologically inspired snake robots, Applied Sciences, 8(1), 2018, DOI: 10.3390/app8010080
  37. M.R.P. Ragazzon, M. Vagia, J.T. Gravdahl, Viscoelastic Properties of Cells: Modeling and Identification by Atomic Force Microscopy, Mechatronics, 2017, DOI: 10.1016/j.mechatronics.2017.09.011
  38. J. Sverdrup-Thygeson, E. Kelasidi, K. Y. Pettersen and J. T. Gravdahl, The underwater swimming manipulator - A bio-inspired solution for subsea operations, IEEE Journal of Oceanic Engineering, DOI: 10.1109/JOE.2017.2768108
  39. S. Gale, H. Rahmati, J.T. Gravdahl, H. Martens, Model Improvement Of A Robotic Manipulator Based On Multivariate Residual Modelling, Frontiers in Robotics and AI, July, 2017
  40. M.H. Arbo, T. Utstumo, E. Brekke and J.T. Gravdahl, Unscented Multi-Point Smoother for Fusion of Delayed Displacement Measurements: Application to Agricultural Robots, Modeling, Identification and Control (MIC), 2017, Vol 38, No 1, pp.199-214
  41. E. Kelasidi, P. Liljebäck, K.Y. Pettersen and J. T. Gravdahl, Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments, IEEE Transactions on Robotics, 2017, DOI: 10.1109/TRO.2017.2651119
  42. M. Tuffaha and J.T. Gravdahl, Discrete State-Space Model to solve the Unit Commitment and Economic Dispatch problems, Energy Systems, pp. 525--547, 8(3), August, 2017, DOI: 10.1007/s12667-016-0212-x
  43. E. Kelasidi, M. Jesmani, K.Y. Pettersen and J.T. Gravdahl, Locomotion efficiency of biologically inspired snake robots, Artificial Life and Robotics, 21(4), pp. 282-294, September, 2016, DOI: 10.1007/s10015-016-0332-3
  44. E. Guttormsen, B. Toldnes, M. Bondø, A. Eilertsen, J.T. Gravdahl and J.R. Mathiassen, A Machine Vision System for Robust Sorting of Herring Fractions, Food and Bioprocess Technology, pp. 1893-1900, 9(11), 2016, DOI 10.1007/s11947-016-1774-2
  45. E. Rezapour, K.Y. Pettersen, J. T. Gravdahl and A. Hofmann, Cross-Track Formation Control of Underactuated Bio-inspired Snake Robots, Artificial Life and Robotics, 21(3), pp. 282-294, September, 2016, DOI: 10.1007/s10015-016-0297-2
  46. W. Caharija, K.Y. Pettersen, M. Bibuli, P. Calado, E. Zereik, J. Braga, J.T. Gravdahl, A.J. Sørensen, M. Milovanovic and G. Bruzzone, “Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles”, IEEE Transactions on Control Systems Technology, 24(5), pp. 1623--1642, September, 2016, DOI: 10.1109/TCST.2015.2504838, Awarded the IEEE Transactions on Control Systems Technology Outstanding Paper Award for the year 2017
  47. Y.R. Teo, A.J. Fleming, A.A. Eielsen, J.T. Gravdahl, A simplified method for discrete-time repetitive control using model-less FIR filter inversion, Journal of Dynamic Systems Measurement and Control, 138(8), May 2016, DOI: 10.1115/1.4033274
  48. E. Kelasidi, P. Liljebäck, K.Y. Pettersen and J. T. Gravdahl, Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots, IEEE Robotics and Automation Magazine, 23(1), March, 2016, pp. 44-62, DOI: 10.1109/MRA.2015.2506121.
  49. Grøtli, E.I., Chaillet, A., Panteley, E., Gravdahl, J.T. Robustness of ISS systems to inputs with limited moving average, with application to spacecraft formations. International Journal of Robust and Nonlinear Control, Vol. 26, no. 4, pp 816-833, March, 2016, DOI: 10.1002/rnc.3339
  50. A.M. Kohl, E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl, Planar path following of underwater snake robots in the presence of ocean currents, IEEE Robotics and Automation Letters (RA-L), 1(1), pp. 383-390, 2016, DOI: 10.1109/LRA.2016.2517827
  51. E. Kelasidi, P. Liljebäck, K.Y. Pettersen and J. T. Gravdahl, Experimental Investigation of Efficient Locomotion of Underwater Snake Robots, Robotics and Biomimetics, 2(8), 2015, DOI: 10.1186/s40638-015-0029-4
  52. M. Tuffaha and J.T. Gravdahl, Control-Oriented Model of a Generating Set comprising a Diesel Engine and A synchronous Generator, Modeling, Identification and Control (MIC), 2015, Vol 36, No 4, pp.199-214
  53. Ø.F. Auestad, J.T. Gravdahl, T. Perez, A. Sørensen and T.H. Espeland, Boarding Control System for Improved Accessibility to Offshore Wind Turbines: Full-scale testing, Control Engineering Practice, vol 45, December, 2015, pp. 207-218, doi:10.1016/j.conengprac.2015.09.016
  54. N. Uddin and J.T. Gravdahl, Bond Graph Modeling of Centrifugal Compressor Systems, Simulation: Transactions of the Society for Modeling and Simulation International, November, 2015, vol 91(11), pp. 998-1013, doi:10.1177/0037549715612124,
  55. C.J. Backi, J.D. Bendtsen, J. Leth and J.T. Gravdahl, A nonlinear heat equation for freezing processes with phase change: Stability analysis and applications, International Journal of Control, vol 89, no 89, pp. 833--849, DOI:10.1080/00207179.2015.1102327
  56. A.A Eielsen, J.T. Gravdahl. K.K. Leang, Low-order continuous-time robust repetitive control. Mechatronics, 2015, vol 30, pp.231-243, doi:10.1016/j.mechatronics.2015.07.006
  57. J.Å. Stakvik, M.R.P. Ragazzon, A.A. Eielsen and J.T. Gravdahl, On Implementation of the Preisach Model: Identification and Inversion for Hysteresis Compensation, Modeling, Identification and control, 2015, Vol 36, No 3, pp. 133-142
  58. P.J. From, C.D. Pham, and J.T. Gravdahl, A Geometric Approach to Actuator Failure in Robotic Manipulators. Proceedings in Applied Mathematics and Mechanics : PAMM 2014 ;Volum 14. s. 79-80
  59. E. Rezapour, K.Y. Pettersen, P. Liljebäck, J. T. Gravdahl and E. Kelasidi, Path Following Control of Planar Snake Robots Using Virtual Holonomic Constraints: Theory and Experiments, Robotics and Biomimetics, 1(1), August, 2014
  60. C.D. Pham, P.J. From and J.T. Gravdahl, A Geometric Approach to the Design of Serial and Parallel Manipulators with Passive Joints,  Applied Mathematics, 5(16), 2585-2601. doi: 10.4236/am.2014.516247, 2014.
  61. W. Caharija, K.Y. Pettersen, A.J. Sørensen, M. Candeloro and J.T. Gravdahl, Relative Velocity Control and Integral LOS for Path Following of ASVs: Merging Intuition with Theory, Proceedings of the Institution of Mechanical Engineers, doi:10.1177/1475090213512293, Part M: Journal of Engineering for the Maritime Environment, 228(2), May, 2014
  62. A.A. Eielsen, M. Vagia, J.T. Gravdahl and K.Y. Pettersen, Damping and Tracking Control Schemes for Nanopositioning, IEEE Transactions on Mechatronics, 19(2), pp. 432--444, DOI: 10.1109/TMECH.2013.2242482 , 2014
  63. P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl, Lateral undulation of snake robots: A simplified model and fundamental properties, Robotica, 31, pp. 1005-1036,
    DOI: 10.1017/S0263574713000295, 2013
  64. P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl, Snake Robot Locomotion in Environments with Obstacles, IEEE Transactions on Mechatronics, 17(6), December, 10.1109/TMECH.2011.2159863, 2012
  65. A.A. Eielsen, J.T. Gravdahl, and K.Y. Pettersen. Adaptive Feed-Forward Hysteresis Compensation for Piezoelectric Actuators. Review of Scientific Instruments,Vol. 83, 085001, doi: 10.1063/1.4739923, 2012
  66. P.J. From, I. Schjølberg, J.T. Gravdahl, K.Y. Pettersen and T.I. Fossen, On the Boundedness Property of the Inertia Matrix and Skew-Symmetric Property of the Coriolis Matrix for Vehicle-Manipulator Systems, Journal of Dynamic Systems, Measurement and Control. Vol. 134, No. 4. doi:10.1115/1.4006077, 2012
  67. P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl, A Review on Modelling, Implementation, and Control of Snake Robots, Robotics and Autonomous Systems, 60(1), pp. 29--40, January, 2012
  68. U. Jørgensen and J.T. Gravdahl, Observer Based Sliding Mode Attitude Control: Theoretical and Experimental Results, Modeling, Identification and control, Vol. 32, No. 3, pp. 113-121, 2011
  69. P.J. From, J.T. Gravdahl, T. Lillehagen, P. Abbeel, On Motion Planning and Control of Robotic Manipulators on Seaborne Platforms - Theory and Experiments, Control Engineering Practice, 19, pp 809--819, August, 2011
  70. P.J. From, K.Y. Pettersen and J.T. Gravdahl, Singularity-Free Dynamic Equations of Spacecraft-Manipulator Systems, Acta Astronautica, 69(11-12), pp. 1057--1065, December, 2011
  71. P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl, Experimental investigation of obstacle-aided locomotion with a snake robot, IEEE Transactions on Robotics (T-RO), 27(4), pp. 792--800, August, 2011, DOI: 10.1109/TRO.2011.2134150
  72. P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl, Controllability and stability analysis of planar snake robot locomotion, IEEE Transactions on Automatic Control (T-AC), 56(6), pp. 1365-1380, June, 2011, DOI: 10.1109/TAC.2010.2088830
  73. P.J. From, J. Gunnar, and J. T. Gravdahl, Optimal Paint Gun Orientation in Spray Paint Applications - Experimental Results, IEEE Transactions of Automation Science and Engineering (T-ASE), 8(2), pp 438--442, April, 2011.
  74. P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl, Two new design concepts for snake robot locomotion in unstructured environments. Paladyn, Journal of Behavioral Robotics, 1(3), pp. 154-159, 2011
  75. P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl, Hybrid modelling and control of obstacle-aided snake robot locomotion, IEEE Transactions on Robotics (T-RO), 26(5), pp 781-799, October, 2010
  76. P.J. From, J.T. Gravdahl, Real-Time Algorithm to determine the optimal paint gun orientation in spray paint applications, IEEE Transactions on Automation Science and Engineering (T-ASE), 7(4), pp 803--816, October, 2010
  77. P.J. From, V. Duindam, K.Y. Pettersen, J.T. Gravdahl and S. Sastry, Singularity-Free Dynamic Equations of Vehicle-Manipulator Systems, Simulation Modelling Practice and Theory, 18(6), pp. 712–731,June, 2010
  78. Kristiansen R., P.J. Nicklasson and J.T. Gravdahl, Satellite Attitude Control by Quaternion-Based Backstepping, IEEE Transactions on control systems technology (T-CST), 17(1), pp. 227-232, January 2009
  79. Kristiansen R., P.J. Nicklasson and J.T. Gravdahl, Spacecraft coordination control in 6DOF: Integrator backstepping vs passivity-based PD+, Automatica 44(11), pp. 2896--2901, November, 2008
  80. Paul T., T. R. Krogstad and J. T.Gravdahl, Modeling and Simulation of UAV Formation Flight using 3D Potential Field, Simulation Modelling Practice and Theory, 16(9), pp. 1453–1462, October, 2008
  81. P.J. From and J.T. Gravdahl, General Solutions to Functional and Kinematic Redundancy, Modeling, Identification and Control, Vol. 29, No. 2, pp. 39-50, 2008
  82. P.J. From and J.T. Gravdahl, Iterative solutions to the inverse geometric problem for manipulators with no closed form solution, Modeling, Identification and Control, Vol. 29, No. 3, 2008
  83. P.J. From and J.T. Gravdahl, On the Mobility and Fault Tolerance of Closed Chain Manipulators with Passive Joints, Modeling, Identification and Control, Vol. 29, No. 4, 2008.
  84. Hovland S., K. E. Willcox and J. T. Gravdahl, Explicit MPC for Large-Scale Systems via Model Reduction, AIAA Journal of Guidance, Control and Dynamics, vol. 31, no. 4, July – August, 2008
  85. Bøhagen B. and Gravdahl J.T., Active surge control of compression system using drive torque. Automatica, 44(4), April, 2008
  86. Gravdahl, J.T. and O. Egeland, New undergraduate courses in control, Modeling, Identification and Control (MIC) , vol. 28, no. 2, 2007
  87. Kristiansen R., E.I. Grøtli, P.J. Nicklasson and J.T. Gravdahl, A model of relative position and attitude in a leader-follower spacecraft formation, Modeling, Identification and Control (MIC) , vol. 28, no. 1, 2007
  88. Hovland S. and J.T. Gravdahl, Stabilizing a CFD model of an unstable system through model reduction, Modeling, Identification and Control (MIC) , vol. 27, no. 3, 2006.
  89. Hegrenæs, Ø., J.T. Gravdahl and P. Tøndel, Spacecraft Attitude Control using Explicit Model Predictive Control, Automatica, 41(12), pp. 2107-2114, 2005
  90. Gravdahl, J.T. and O. Egeland, New undergraduate courses in control, IEEE Control Systems Magazine, 24(5), October, 2004
  91. Gravdahl, J.T,  F. Willems, B. de Jager and O. Egeland. Modeling of surge in variable speed centrifugal compressors: Experimental validation , AIAA Journal of Propulsion and Power, 20(5), pp. 849-857, September 2004
  92. Gravdahl, J.T., O. Egeland and S.O. Vatland Drive torque actuation in active surge control of centrifugal compressors, Automatica, 38(11), pp. 1881-1893, 2002
  93. Gravdahl, J.T. and Egeland, O. Centrifugal compressor surge and speed control, IEEE Transactions on Control Systems Technology (T-CST), 7(5), 1999,  pp. 567-579. Awarded the IEEE Transactions on Control Systems Technology Outstanding Paper Award for the year 2000
  94. Gravdahl, J.T. and Egeland, O. Speed and surge control for a low order centrifugal compressor model, Modeling, Identification and Control (MIC) , vol. 19, no. 1, 1998.

Accepted

Submitted

Conference papers

Submitted

Accepted

Published

  1. M.E.B Lysø, E. Panteley, K.Y. Pettersen and J.T.Gravdahl, Orbital Control for Swimming in Underwater Snake Robots using Energy-Shaping and Consensus Control, Proc. 63rd Conference on Decision and Control Milano, Italy, Dec. 16-19, 2024, 2024
  2. J.I. Dyrhaug, E.L. Foseid, H.M. Schmidt-Didlaukies, E.A. Basso, K.Y. Pettersen and J.T. Gravdahl, Super-Twisting Impedance Control for Robust and Compliant Interaction using a Redundant Robot Manipulator, Modeling, Estimation, and Control Conference (MECC 2024), Chicago, IL, USA, October 27-30, 2024
  3. I. Gushkov, S. Hoff, A. Orucevic, K.Y. Pettersen, and J.T. Gravdahl, Sparse reconstruction of forces, torques and velocity signals for a swimmer in a wake, Symposium on Systems Theory in Data and Optimization (SysDO2024), University of Stuttgart, Germany, Sep 30 – Oct 2, 2024
  4. E.L. Foseid, E.A. Basso, H.M. Schmidt-Didlaukies, M. Marley, K.Y. Pettersen and J.T.Gravdahl, Learning Optimal Guidance Schemes with Safety Guarantees for Underactuated Marine Vehicles, 15th IFAC Conference on Control Applications in Marine Systems, Robotics, Blacksburg, Virginia, USA, September 3-5, 2024
  5. E. Tveter, K.Y. Pettersen and J.T. Gravdahl, Power-Based Safety Constraint for Redundant Robotic Manipulators, 15th IFAC Conference on Control Applications in Marine Systems, Robotics, Blacksburg, Virginia, USA, September 3-5, 2024. Best Paper Award
  6. I.G. Gushkov, K.Y. Pettersen and J.T. Gravdahl, MPC Path Following with Macroscopic Shape Adjustment for AIAUVs, 15th IFAC Conference on Control Applications in Marine Systems, Robotics, Blacksburg, Virginia, USA, September 3-5, 2024
  7. A. Orucevic, E.L. Foseid, M.E.B Lysø, K.Y. Pettersen and J.T. Gravdahl, Nonlinear model predictive control for sinusoidal gait tracking for an underwater snake robot, 15th IFAC Conference on Control Applications in Marine Systems, Robotics, Blacksburg, Virginia, USA, September 3-5, 2024
  8. M.E.B Lysø, K.Y. Pettersen and J.T. Gravdahl,Energy-Shaping Control for Swimming in Underwater Snake Robots, 15th IFAC Conference on Control Applications in Marine Systems, Robotics, Blacksburg, Virginia, USA, September 3-5, 2024
  9. M. Wrzos-Kaminska, B.K. Sæbø, K.Y. Pettersen and J.T. Gravdahl, Unifying the Generalized Jacobian Matrix and prioritized task hierarchies, with application to free-floating VMSs, 15th IFAC Conference on Control Applications in Marine Systems, Robotics, Blacksburg, Virginia, USA, September 3-5, 2024
  10. J.I. Dyrhaug, K.Y. Pettersen and J.T. Gravdahl, Robust Interaction using Generalized Super-Twisting Impedance Control, 15th IFAC Conference on Control Applications in Marine Systems, Robotics, Blacksburg, Virginia, USA, September 3-5, 2024
  11. M.H. Iversflaten, H. M. Schmidt-Didlaukies, K.Y. Pettersen and J.T. Gravdahl, Centralized Underwater Cooperative Transport with Prioritized Safety Constraints, 15th IFAC Conference on Control Applications in Marine Systems, Robotics, Blacksburg, Virginia, USA, September 3-5, 2024
  12. B.K. Sæbø, K.Y. Pettersen and J.T. Gravdahl, Kinematic Task-Priority Path Following for Articulated Marine Vehicles, 15th IFAC Conference on Control Applications in Marine Systems, Robotics, Blacksburg, Virginia, USA, September 3-5, 2024
  13. G. D'Antuono, K.Y. Pettersen, L.R. Buonocore, J.T. Gravdahl, and M. Di Castro, Path Following Control of a Tendon-Actuated Snake Robot with Rolling Joints, 8th IEEE Conference on Control Technology and Applications (CCTA), Newcastle upon Tyne, UK, August 21-21, 2024
  14. E.L. Foseid, E.A. Basso, H.M. Schmidt-Didlaukies, K.Y. Pettersen and J.T.Gravdahl, Model Predictive Task-Priority Control using Control Lyapunov Functions, Accepted for the 2024 European Control Conference, Stockholm, Sweden, June, 2024
  15. E.T.B. Lundby, H. Robinson, A. Rasheed, J.T. Gravdahl and I.J. Halvorsen, Sparse neural networks with skip-connections for nonlinear system identification, Proc. 62nd IEEE Conference on Decision and Control Marina Bay Sands, Singapore, Dec. 13-15, 2023
  16. K. Seel, S. Gros and J.T. Gravdahl, Combining Q-learning and Deterministic Policy Gradient for Learning-based MPC, Proc. 62nd IEEE Conference on Decision and Control Marina Bay Sands, Singapore, Dec. 13-15, 2023
  17. B.A. Kristiansen, D.D. Langer, J. Garrett, S. Berg, J.T. Gravdahl and T.A. Johansen, Accuracy of a slew maneuver for the HYPSO-1 satellite -- in-orbit results, WHISPERS 2023 (13th IEEE GRSS Workshop on Hyperspectral Image and Signal Processing: Evolution in Remote Sensing), Athens, Greece, Oct. 31-Nov. 3, 2023
  18. T. Nysæther, K.Y. Pettersen and J.T. Gravdahl, Hierarchical compliance-control-based docking of an UVMS, Proc. OCEANS, Gulf Coast, Mississippi, Sep. 25-28, 2023
  19. B.A. Kristiansen, J.T. Gravdahl, S. Gros and T.A. Johansen, Energy Optimal Attitude Control of a Satellite Actuated by Magnetorquers in Minimum Time, Proc. 7th IEEE Conference on Control Technology and Applications, Bridgetown, Barbados, August 16-18, 2023
  20. B.O.A. Haugaløkken, H.B. Amundsen, H.S. Fadum, J.T. Gravdahl and S.J. Ohrem, Adaptive Generalized Super-Twisting Tracking Control of an Underwater Vehicle, Proc. 7th IEEE Conference on Control Technology and Applications, Bridgetown, Barbados, August 16-18, 2023
  21. I. Gushkov, A. Orucevic, K.Y. Pettersen, W. Yao, J.T. Gravdahl, Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots, Proc. 7th IEEE Conference on Control Technology and Applications, Bridgetown, Barbados, August 16-18, 2023
  22. A. Orucevic, M.E.B. Lysø, H.M. Schmidt-Didlaukies, K.Y. Pettersen and J.T. Gravdahl, Optimal Positioning of Snake Robots in Vortex Wakes using Extremum-Seeking Control, Proc. 22nd IFAC World Congress, Yokohama, Japan, July 9 – 14, 2023
  23. J.I. Dyrhaug, E.Tveter, H.M. Schmidt-Didlaukies, E.A. Basso, K.Y. Pettersen and J.T. Gravdahl, Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems, Proc. 22nd IFAC World Congress, Yokohama, Japan, July 9 – 14, 2023
  24. B.A. Kristiansen and J.T. Gravdahl, Maximum Hands-Off Attitude Control of a Spacecraft Actuated by Thrusters, Proc. 22nd IFAC World Congress, Yokohama, Japan, July 9 – 14, 2023
  25. M.H. Iversflaten, B.K. Sæbø, E.A. Basso, K.Y. Pettersen and J.T. Gravdahl, Task-Priority Operational Space Control for Vehicle-Manipulator Systems with Modelling Errors, Proc. 22nd IFAC World Congress, Yokohama, Japan, July 9 – 14, 2023
  26. M. Grøtte, J.T. Gravdahl, and T.A. Johansen, Constrained Control Allocation for Prioritized Hybrid Actuators in Spacecraft Attitude Control, Proc. 22nd IFAC World Congress, Yokohama, Japan, July 9 – 14, 2023
  27. G. D'Antuono, K.Y. Pettersen, L.R. Buonocore, J.T. Gravdahl and M. Di Castro, Dynamic model of a tendon-actuated snake robot using the Newton-Euler formulation, Proc. 22nd IFAC World Congress, Yokohama, Japan, July 9 – 14, 2023
  28. T. Nicolai, M. Haring, E.I. Grøtli, J.T. Gravdahl, J. Reger, Realizing LTI models by identifying characteristic parameters using least squares optimization, European Control Conference (ECC), Bucharest, Romania, June 13-16, 2023
  29. A.S. Anand, D. Reinhardt, S. Sawant, J.T. Gravdahl and S. Gros, A Painless Deterministic Policy Gradient Method for Learning-based MPC, European Control Conference (ECC), Bucharest, Romania, June 13-16, 2023
  30. E.A. Basso, H.M. Schmidt-Didlaukies, K.Y. Pettersen and J.T. Gravdahl, Synergistic PID and Output Feedback Control on Matrix Lie Groups, Proc. 12th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Canberra, Australia, Jan. 4-6, 2023, Awarded Best Student Paper Award
  31. A.S. Anand, J.E. Kveen, F. Abu-Dakka, E.I Grøtli and J.T. Gravdahl, Addressing Sample Efficiency and Model-bias in Model-based Reinforcement Learning. In 21st IEEE International Conference on Machine Learning and Applications (IEEE ICMLA), Bahamas, December 12-14, 2022
  32. A. Orucevic, J.T. Gravdahl, K.Y. Pettersen and A. Chaillet, Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots, 6th IEEE Conference on Control Technology and Applications, August 23 – 25, Trieste, Italy
  33. B.K. Sæbø, J.T. Gravdahl and K.Y. Pettersen, Robust Task-Priority Impedance Control for Vehicle-Manipulator Systems, 6th IEEE Conference on Control Technology and Applications, August 23 – 25, Trieste, Italy
  34. S.K. Schaanning, B.A. Kristiansen and J.T. Gravdahl, Maximum hands off attitude control, 2022 American Control Conference (ACC), June 8-11, Atlanta, GA
  35. A.S. Anand, M.H. Myrestrand, J.T. Gravdahl, Evaluation of Variable Impedance- and Hybrid Force/Motion-Controllers for Learning Force Tracking Skills, 2022 IEEE/SICE International Symposium on System Integration (SII), Narvik, Norway (digital)
  36. A.S. Anand, A. Østvik, E.I. Grøtli, M. Vagia, J.T. Gravdahl, Real-time temporal adaptation of dynamic movement primitives for moving targets, 20th International Conference on Advanced Robotics (ICAR), December 6-10, 2021, Ljubljana, Slovenia.
  37. K. Seel, M.M. Haring, E.I Grøtli, K.Y. Pettersen and J.T. Gravdahl, Learning-based Robust Model Predictive Control for Sector-bounded Lur'e Systems, the 2021 Modeling, Estimation, and Control Conference (MECC 2021), Online and University of Texas at Austin, USA
  38. J.A. Olsen, M.E. Grøtte and J.T. Gravdahl, Attitude determination and control system testbed for hardware and software testing and validation for HYPSO small satellites, 72nd International Astronautical Congress, Dubai, United Arab Emirates, 25 – 29 October 2021
  39. C. Sterud, S. Moe and J.T. Gravdahl, Stable and robust neural network controllers, European Control Conference (ECC), Rotterdam, NL (Virtual), June 29 - July 2, 2021
  40. B.A. Kristiansen, J.T. Gravdahl, T.A. Johansen, Energy optimal attitude control for a solar-powered spacecraft, European Control Conference (ECC), Rotterdam, NL (Virtual), June 29 - July 2, 2021
  41. A. Moltumyr, M.H. Arbo, J.T. Gravdahl, Output Maneuvering for Cartesian 3D Printer, European Control Conference (ECC), Rotterdam, NL (Virtual), June 29 - July 2, 2021
  42. F. Viset, J.T. Gravdahl and M. Kok, Magnetic field norm SLAM using Gaussian process maps in foot-mounted sensor, European Control Conference (ECC), Rotterdam, NL (Virtual), June 29 - July 2, 2021
  43. K. Seel, E.I Grøtli, S. Moe, J.T. Gravdahl and K.Y. Pettersen, Neural Network-Based Model Predictive Control with Input-to-State Stability, American Control Conference, 2021
  44. M. Arbo, I. Eriksen, F. Sanfilippo, J.T. Gravdahl, Comparison of KVP and RSI for Controlling KUKA Robots Over ROS, 21st IFAC World Congress, Berlin, Germany, July 12-17, 2020
  45. I.F. Onstein, L.D. Evjemo and J.T. Gravdahl, Additive Manufacturing Path Generation for Robot Manipulators Based on CAD Models, 21st IFAC World Congress, Berlin, Germany, July 12-17, 2020
  46. A.H. Moltumyr, M.R.P. Ragazzon and J.T. Gravdahl, Fractional-order Control: Nyquist Constrained Optimization, 21st IFAC World Congress, Berlin, Germany, July 12-17, 2020
  47. L.D. Evjemo, S. Moe and J.T. Gravdahl, Robotised Wire Arc Additive Manufacturing Using Set-based Control: Experimental Results, 21st IFAC World Congress, Berlin, Germany, July 12-17, 2020
  48. B.A. Kristiansen, M.E. Grøtte and J.T. Gravdahl, Quaternion-Based Generalized Super-Twisting Algorithm for Spacecraft Attitude Control, 21st IFAC World Congress, Berlin, Germany, July 12-17, 2020
  49. M.E. Grøtte, J.T. Gravdahl, T.A. Johansen, E.M. Vidal and E. Surma, Spacecraft Attitude Stabilization and Slew Maneuver Feedback Controllers using Reaction Wheels, 21st IFAC World Congress, Berlin, Germany, July 12-17, 2020
  50. S. Moe, F. Remonato, E.I. Grøtli and J.T. Gravdahl, Linear Antisymmetric Recurrent Neural Networks, Learning for Dynamics and Control (L4DC), June 10-11th, 2020, University of California, Berkeley, CA
  51. A.H. Moltumyr, M.H. Arbo and J.T. Gravdahl, Towards Vision-based Closed-loop Additive Manufacturing: A Review, 3rd International Symposium on Small-scale Intelligent Manufacturing Systems (SIMS), June 10-12, 2020, Gjøvik, Norway.
  52. I.-L. G. Borlaug, K.Y. Pettersen and J.T. Gravdahl, The generalized super-twisting algorithm with adaptive gains, European Control Conference, Saint Petersburg, Russia, May 12-15, 2020, Finalist for Best Student Paper Award
  53. M. Wrzos-Kaminska, T. Mylvaganam, K.Y. Pettersen and J.T. Gravdahl, Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV, European Control Conference, Saint Petersburg, Russia, May 12-15, 2020
  54. L.M.G. Johannessen, M.H.Arbo and J.T. Gravdahl, Robot Dynamics with URDF and CasADi, The 7th International Conference on Control, Mechatronics and Automation, TU Delft, Netherlands, November 6-8, 2019
  55. M.A. Astad, M.H. Arbo, E.I. Grøtli and J.T. Gravdahl, Vive for Robotics: Rapid Robot Cell Calibration, The 7th International Conference on Control, Mechatronics and Automation,TU Delft, Netherlands, November 6-8, 2019
  56. I.-L.G., Borlaug, J. Sverdrup-Thygeson, K.Y. Pettersen, J.T. Gravdahl, Combined kinematic and dynamic control of an underwater swimming manipulator, Joint 12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles 1st IFAC Workshop on Robot Control, KAIST, Daejeon, Korea, September 18-20, 2019
  57. M.R.P. Ragazzon, S. Messineo, J.T. Gravdahl, D. Harcombe, M.G. Ruppert, Generalized Lyapunov Demodulator for Amplitude and Phase Estimation by the Internal Model Principle, 8th IFAC Symposium on Mechatronic Systems, Vienna, 2019
  58. M. Wrzos-Kaminska, K.Y. Pettersen and J.T. Gravdahl, Path following control for articulated intervention-AUVs using geometric control of reduced attitude, 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Vienna, 2019.
  59. L.D. Evjemo, G. Langelandsvik and J.T. Gravdahl, Wire Arc Additive Manufacturing by Robot Manipulator: Towards creating complex geometries, 5th IFAC International Conference on Intelligent Control and Automation Science (ICONS), Belfast, Northern Ireland, August 21-23, 2019
  60. I.-L. G. Borlaug, K.Y. Pettersen and J.T. Gravdahl, Tracking control of an articulated intervention-AUV in 6DOF using the generalized super-twisting algorithm, American Control Conference, Philadelphia, PA, July 10-12, 2019.
  61. M.R.P. Ragazzon, J.T. Gravdahl, K.Y. Pettersen, Model-Based Identification of Nanomechanical Properties in Atomic Force Microscopy, International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS2019), July 1–5, 2019 in Helsinki, Finland.
  62. V. Hassani, S. Fjellvang, Ø. Auestad, J.T. Gravdahl, Adaptive Boarding Control System in Surface Effect Ships, European Control Conference, Napoli, Italia, June 25-28, 2019
  63. W. Caharija, A.J. Sørensen, K.Y. Pettersen, M. Greco, J.T. Gravdahl, Path Following Control of Underactuated Surface Vessels in the Presence of Multiple Disturbances, European Control Conference, Napoli, Italia, June 25-28, 2019
  64. I.-L. G. Borlaug, K.Y. Pettersen and J.T. Gravdahl, Trajectory tracking for an articulated intervention AUV using a super twisting algorithm in 6 DOF, 2018 IFAC Conference on Control Applications in Marine Systems (CAMS), September, 2018, Opatija, Croatia
  65. J. Tønnesen, H.Å. Bryn, J.T. Gravdahl, V. Hassani, Ø.F. Auestad, Roll damping of a surface effect ship with split air cushion, 2018 IFAC Conference on Control Applications in Marine Systems (CAMS), September, 2018, Opatija, Croatia
  66. M.H. Arbo and J.T. Gravdahl, Stability of the Tracking Problem with Task-Priority Inverse Kinematics, In Proc. of the IFAC Symposium on robot control, SYROCO, Budapest, August 27-30, 2018
  67. C.J. Backi, J.T. Gravdahl and S. Skogestad, A method for parameter identification of nonlinear dynamics systems without full observability, proc. of IFAC Conference on Modeling, Identification and Control of Nonlinear Systems, MICNON 2018, June 20-22, 2018, Guadalajara, Mexico
  68. A.M. Kohl, S. Moe, E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl, Set-based path following and obstacle avoidance for underwater snake robots, proc. IEEE int. conference on robotics and biomimetics (Robio), Macau, China, Dec. 5-8, 2017, Awarded the Best Conference Paper Award at Robio 2017
  69. I.-L. G. Borlaug, J.T. Gravdahl, J. Sverdrup-Thygeson and K.Y. Pettersen, Trajectory tracking for underwater swimming manipulators using a super twisting algorithm, Proc. 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2017), Kyoto, Japan, Oct, 2017,
  70. L.D. Evjemo, S. Moe, J.T. Gravdahl, O. Roulet-Dubonnet, L.T. Gellein and V. Brøtan, Additive manufacturing by robot manipulator: An overview of the state-of-the-art and proof-of-concept results, 22nd IEEE International Conference on Emerging Technologies and Factory Automation, September 12-15, 2017, Limassol, Cyprus
  71. A.M. Kohl, K.Y. Pettersen and J.T. Gravdahl, Forward velocity and heading control of underwater snake robots using absolute velocity feedback, 1st IEEE Conference on Control Technology and Applications (CCTA), Kohala Coast, Hawai'i, August 27-30, 2017
  72. E. Kelasidi, K.Y. Pettersen, J. T. Gravdahl, S. Strømsøyen and A.J. Sørensen, Modeling and propulsion methods of underwater snake robots, 1st IEEE Conference on Control Technology and Applications (CCTA), Kohala Coast, Hawai'i, August 27-30, 2017
  73. J. Sverdrup-Thygeson, S. Moe, K. Y. Pettersen and J. T. Gravdahl, Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks, 1st IEEE Conference on Control Technology and Applications (CCTA), Kohala Coast, Hawai'i, August 27-30, 2017
  74. M.H. Arbo, E.I. Grøtli, J.T. Gravdahl, Mid-Level MPC and 6 DOF Output Path Following for Robotic Manipulators, 1st IEEE Conference on Control Technology and Applications (CCTA), Kohala Coast, Hawai'i, August 27-30, 2017
  75. M.R.P. Ragazzon, J. T. Gravdahl and K.Y. Pettersen, Exponential convergence bounds in least squares estimation: Identification of viscoelastic properties in atomic force microscopy, 1st IEEE Conference on Control Technology and Applications (CCTA), Kohala Coast, Hawai'i, August 27-30, 2017, Finalist for Best Paper Award
  76. M.H. Arbo, E.I. Grøtli, J.T. Gravdahl, On model predictive path following and trajectory tracking for industrial robots, IEEE CASE 2017, 13th IEEE Conference on Automation Science and Engineering, August 20-23, 2017 Xi'an, China
  77. N. Uddin and J.T. Gravdahl, Compressor surge control design using linear matrix inequality approach, In proc. of the 5th international conference on Instrumentation, Control and Automation (ICA), August 9-11, 2017, Yogyakarta, Indonesia
  78. E. Kelasidi, K.Y. Pettersen, A.M. Kohl and J. T. Gravdahl, An experimental investigation of path following for an underwater snake robot with caudal tail, IFAC World Congress, Toulouse, France, July 2017
  79. M.H. Arbo, E.I. Grøtli, J.T. Gravdahl, On the globally exponentially stable invariance and immersion speed observer for mechanical systems, American Control Conference, Seattle, May, 2017
  80. E. Kelasidi, K.Y. Pettersen, P. Liljebäck and J. T. Gravdahl, Locomotion efficiency of underwater snake robots with thrusters, Int. Symposium on safety, security and rescue robotics, EPFL, Lausanne, Switzerland, October 23-27, 2016
  81. J. Sverdrup-Thygeson, E. Kelasidi, K. Y. Pettersen and J. T. Gravdahl, The underwater swimming manipulator - A bio-inspired AUV, IEEE AUV, Tokyo, Japan, 6-9 November 2016
  82. C.J. Backi, J.T. Gravdahl and S. Skogestad, Robust control of a two-state Greitzer compressor model by state-feedback lineariztion, in proceedings of the IEEE Multi-Conference on Systems and Control 2016, Buenos Aires, Argentina, September 19-22, 2016
  83. M.R.P. Ragazzon, J.T.Gravdahl, Imaging topography and viscoelastic properties by constant depth atomic force microscopy, in proceedings of the IEEE Multi-Conference on Systems and Control 2016, Buenos Aires, Argentina, September 19-22, 2016
  84. J. Sverdrup-Thygeson, E. Kelasidi, K. Y. Pettersen and J. T. Gravdahl, A control framework for biologically inspired underwater swimming manipulators equipped with thrusters, in proceedings of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS 2016), Trondheim, Norway, September 13-16, 2016
  85. J. Sverdrup-Thygeson, E. Kelasidi, K. Y. Pettersen and J. T. Gravdahl, Modeling of underwater swimming manipulators, in proceedings of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS 2016), Trondheim, Norway, September 13-16, 2016
  86. M.R.P. Ragazzon, M. Vagia, J.T.Gravdahl, Cell Mechanics Modeling and Identification by Atomic Force Microscopy, in proceedings of MECHATRONICS 2016: 7th IFAC Symposium on Mechatronic Systems & 15th Mechatronics Forum International Conference, Loughborough University, England, 5th - 8th September 2016
  87. M.R.P. Ragazzon, J.T. Gravdahl, and A.J. Fleming, On Amplitude Estimation for High-Speed Atomic Force Microscopy, in proceedings of the 2016 American Control Conferece, Boston, July, 2016
  88. N. Uddin and J.T. Gravdahl, Two General State Feedback Control Laws for Compressor Surge Stabilization, in proceedings of the 24th Mediterranean Conference on Control and Automation, Athens, Greece, June, 2016
  89. S. Moe, K.Y. Pettersen, T.I. Fossen, J.T. Gravdahl, Line-of-Sight Curved Path Following for Underactuated USVs and AUVs in the Horizontal Plane under the influence of Ocean Currents, in proceedings of the 24th Mediterranean Conference on Control and Automation, Athens, Greece, June, 2016
  90. M. Vagia, A.A.Eielsen, J.T. Gravdahl, K.Y. Pettersen, Nonlinear Tracking Control Scheme for a Nanopositioner, in proceedings of the 24th Mediterranean Conference on Control and Automation, Athens, Greece, June, 2016
  91. E. Kelasidi, A.M. Kohl, K.Y.Pettersen, J.T. Gravdahl, Waypoint guidance control for underwater snake robots exposed to ocean currents, in proceedings of the 24th Mediterranean Conference on Control and Automation, Athens, Greece, June, 2016
  92. C.J. Backi, J. Leth and J.T. Gravdahl, Optimal and Model Predictive Control for a novel thawing method for foodstuff, Proceedings of the 11th IFAC Symposium on Dynamics and Control of Process Systems, including Biosystems (DYCOPS-CAB 2016), Trondheim, Norway, June 6-8, 2016
  93. N. Uddin and J.T. Gravdahl, Piston actuated active surge control system: Implementation and experimental results, Proceedings of the 11th IFAC Symposium on Dynamics and Control of Process Systems, including Biosystems (DYCOPS-CAB 2016), Trondheim, Norway, June 6-8, 2016
  94. A.M. Kohl, E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl, Analysis of underwater snake robot locomotion in the presence of ocean currents, Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics, Zhuhai, China, December 6-9, 2015
  95. E. Kelasidi, M. Jesmani, K. Y. Pettersen and J. T. Gravdahl, Multi-objective optimization for efficient motion of underwater snake robots, Proc. 1st International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2015),Kyoto, Japan, Oct. 28-30, 2015
  96. E. Rezapour, K.Y. Pettersen, J. T. Gravdahl and A. Hofmann, Cross-Track Formation Control of Underactuated Bio-inspired Snake Robots, Proc. 1st International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2015),Kyoto, Japan, Oct. 28-30, 2015
  97. J. Dørum, T. Utstumo, J.T. Gravdahl, Experimental comparison of adaptive controllers for trajectory tracking in agricultural robotics, Proc. 19th International Conference on System Theory, Control and Computing, Cheile Gradistei - Fundata Resort, Romania, October 14-16, 2015
  98. A.M. Kohl, E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl, A control-oriented model of underwater snake robots exposed to currents, Proc. 2015 IEEE Multi-Conference on Systems and Control, Sydney, Australia, September 21-23, 2015.
  99. Ø.F. Auestad, J.W. McFann, and J.T. Gravdahl. Full-scale performance of the SES Motion Control System, 13th International Conference on Fast Sea Transportation  (FAST 2015), FHI 360 Conference Center, Washington, D.C., 1-4 September, 2015
  100. Ø.F. Auestad, T. Perez, J.T. Gravdahl, A. Sørensen and T.H. Espeland, Boarding Control System - for Improved Accessibility to Offshore Wind Turbines, In proceedings of the 10th IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC'2015), Copenhagen, Denmark, August 24-26, 2015. Awarded Best Student Paper at the 2015 IFAC MCMC
  101. E. Kelasidi, K.Y. Pettersen and J. T. Gravdahl, Energy efficiency of underwater robots, In proceedings of the 10th IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC'2015), Copenhagen, Denmark, August 24-26, 2015
  102. M.R.P. Ragazzon, J.T. Gravdahl, K.Y. Pettersen, and A.A. Eielsen, Topography Estimation in Atomic Force Microscopy by State and Parameter Estimation, Proc. 2014 American Control Conference, Chicago, IL, July 1 – 3, 2015.
  103. C.J. Backi, J.D. Bendtsen, J. Leth and J.T. Gravdahl, Stability properties of a nonlinear heat equation with state-dependent parameters and asymmetric boundary conditions, Proc. Conference on Modeling, Identification and Control of Nonlinear Systems (MICNON-2015), Saint-Persburg, Russia, June 24-26, 2015
  104. E. Kelasidi, K.Y. Pettersen and J. T. Gravdahl, Energy efficiency of underwater snake robot locomotion, in proceedings of the 23rd Mediterranean conference on control and automation, Torremolinos, Spain, June 16-19, 2015
  105. T. Utstumo, T. Berge and J.T. Gravdahl, Non-linear Model Predictive Control for constrained robot navigation in row crops, in the Proceedings of the 2015 IEEE International Conference on Industrial Technology (ICIT 2015), Seville, Spain, March 17-19, 2015.
  106. M. Tuffaha and J.T. Gravdahl, Dynamic Formulation of the Unit Commitment and Economic Dispatch problems, in the Proceedings of the 2015 IEEE International Conference on Industrial Technology (ICIT 2015), Seville, Spain, March 17-19, 2015.
  107. S. Gale, A.A. Eielsen and J.T. Gravdahl, Modelling and Simulation of a Flywheel Based Energy Storage System for an Industrial Manipulator, in the Proceedings of the 2015 IEEE International Conference on Industrial Technology (ICIT 2015), Seville, Spain, March 17-19, 2015.
  108. T. Utstumo, J. Dørum, M.H. Arbo, T.W. Berge, S. Goldberg, Ø. Overskeid and J.T. Gravdahl, Asterix - Automatisk ugraskontroll i radkulturer, Bioforsk-konferansen, Hamar, Norway, February 4-5, 2015
  109. C.J. Backi and J.T. Gravdahl, A reduced observer design for a freezing process, the 19th Nordic Process Control Workshop, On the Coastal Steamer "Richard With" from Trondheim to Bodø, Norway, January 15-16, 2015
  110. F. Urdal, T. Utstumo, J.K. Vatne, S.Å. Ellingsen and J.T. Gravdahl, Design and control of precision drop on demand herbicide application in agricultural robotics, in the Proceedings of the 13th International Conference on Control, Automation, Robotics and Vision, ICARCV 2014, Singapore, December 10-12, 2014
  111. E. Kelasidi, K.Y. Pettersen and J. T. Gravdahl, Stability Analysis of Underwater Snake Robot Locomotion Based on Averaging Theory, in the Proceedings of the IEEE International conference on robotics and biomimetics, Bali, Indonesia, December 5-10, 2014
  112. E. Kelasidi, K.Y. Pettersen and J. T. Gravdahl, A Simplified Model of Underwater Snake Robots, in the Proceedings of the IEEE International conference on robotics and biomimetics, Bali, Indonesia, December 5-10, 2014
  113. E. Kelasidi, K.Y. Pettersen, P. Liljebäck and J. T. Gravdahl, Integral Line-of-Sight for path following of underwater snake robots, in the Proceedings of the 2014 IEEE Multi-Conference on Systems and Control, Antibes, France, October 8-10, 2014
  114. C.J. Backi, J.D. Bendtsen, J. Leth and J.T. Gravdahl, Estimation of inner-domain temperatures for a freezing process, in the Proceedings of the 2014 IEEE Multi-Conference on Systems and Control, Antibes, France, October 8-10, 2014
  115. M. Tuffaha and J.T. Gravdahl, Robust speed control of a Marine Diesel Engine driving a Synchronous machine and a Propeller, in the Proceedings of the 2014 IEEE Multi-Conference on Systems and Control, Antibes, France, October 8-10, 2014
  116. P. Liljebäck, Ø. Stavdahl, K. Y. Pettersen, and J. T. Gravdahl, Mamba - A Waterproof Snake Robot with Tactile Sensing, in the Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, September, 2014
  117. P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl and J. T. Gravdahl, A 3D Motion Planning Framework for Snake Robots, in the Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, September, 2014
  118. E. Kelasidi, K.Y. Pettersen and J. T. Gravdahl, Modelling of underwater snake robots moving in a vertical plane of 3D, in the Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, September, 2014
  119. C. Holden, Ø. Stavdahl and J.T. Gravdahl, Optimal Dynamic Force Mapping for Obstacle-Aided Locomotion in 2D Snake Robots, in the Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, September, 2014
  120. C.J. Backi, J.D. Bendtsen, J. Leth and J.T. Gravdahl, The nonlinear heat equation with state–dependent parameters and its connection to the Burgers’ and the potential Burgers’ equation, 19th World Congress of the International Federation of Automatic Control, IFAC, Cape Town, South Africa, August 24-29, 2014
  121. Ø.F. Auestad, J.T. Gravdahl, A. Sørensen and T.H. Espeland, Motion Compensation System for a Free Floating Surface Effect Ship, 19th World Congress of the International Federation of Automatic Control, IFAC, Cape Town, South Africa, August 24-29, 2014
  122. A.A. Eielsen, J.T. Gravdahl and K.K. Leang, Analog Robust Repetitive Control for Nanopositioning Using Bucket Brigade Devices, 19th World Congress of the International Federation of Automatic Control, IFAC, Cape Town, South Africa, August 24-29, 2014
  123. M.R.P. Ragazzon, A.A. Eielsen, J.T. Gravdahl, H_inf Reduced Order Control for Nanopositioning: Numerical Implementability, 19th World Congress of the International Federation of Automatic Control, IFAC, Cape Town, South Africa, August 24-29, 2014
  124. E. Rezapour, K.Y. Pettersen, J. T. Gravdahl and P. Liljebäck, Body Shape and Orientation Control for Locomotion of Biologically-Inspired Snake Robots, in Proceedings of the 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2014), August 12-15,2014, São Paulo
  125. Y.R. Teo, A.A. Eielsen, J.T. Gravdahl, A.J. Fleming, Discrete-Time Repetitive Control With Model-Less FIR Filter Inversion for High Performance Nanopositioning, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2014) , July 8-11, 2014, Besançon, France
  126. E. Kelasidi, K.Y. Pettersen and J. T. Gravdahl, A waypoint guidance strategy for underwater snake robots, in the Proceedings of the 22nd Mediterranean Conference on Control and Automation, MED'14, Palermo, Italy, June 16-19, 2014
  127. E. Kelasidi, K.Y. Pettersen, J. T. Gravdahl and P. Liljebäck, Modelling of underwater snake robots, in the Proceedings of 2014 IEEE International Conference on Robotics and Automation, May 31 - June 5, 2014, Hong Kong, China 
  128. E. Rezapour, K.Y. Pettersen, P. Liljebäck, and J. T. Gravdahl, Differential Geometric Modelling and Robust Path Following Control of Snake Robots Using Sliding Mode Techniques, in the Proceedings of 2014 IEEE International Conference on Robotics and Automation, May 31 - June 5, 2014, Hong Kong, China 
  129. P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Compliant Body Shape Control of Snake Robots, in the Proceedings of 2014 IEEE International Conference on Robotics and Automation, May 31 - June 5, 2014, Hong Kong, China 
  130. P.J. From, C.D. Pham, and J.T Gravdahl, A Geometric Approach to Handling Torque Failure in Serial Manipulators and Closed Chain Manipulators with Passive Joints, 85th Annual Meeting of the International Association of Applied Mathematics and Mechanics, Erlangen, Germany, March 10-14, 2014
  131. P. Rahmanpour, J.A. Bones, M. Hovd and J.T. Gravdahl, Linear and Nonlinear State Estimation in the Czochralski Process, in proceedings of the 10th IFAC Symposium on Dynamics and Control of Process Systems, DYCOPS2013,Mumbai, India, December 18-20, 2013
  132. E. Rezapour, K.Y. Pettersen, P. Liljebäck, and J. T. Gravdahl, Path Following Control of Planar Snake Robots Using Virtual Holonomic Constraints, in the proceedings of the 2013 IEEE International Conference Robotics and Biomimetics (IEEE-ROBIO 2013), Shenzhen, China, December 12-14, 2013. IEEE-ROBIO 2013 Best Student Paper Award Finalist.
  133. M. Tuffaha and J.T. Gravdahl, Mixed-Integer Formulation of Unit Commitment problem for Isolated power systems with application to Marine Vessels, in the proceedings of the 52nd IEEE Conference on Decision and Control , Florence, Italy, December 10-13, 2013
  134. M. Tuffaha and J.T. Gravdahl, Mixed-Integer Formulation of Unit Commitment problem for power systems: Focus on start-up cost, in the proceedings of the 39th annual conference of the IEEE Industrial Electronics Society (IECON), November 10-13, Vienna, Austria
  135. C.J. Backi and J.T. Gravdahl, Optimal boundary control for the heat equation with application to freezing with phase change, in the proceedings of the 2013 Australian Control Conference, AUCC 2013, Perth,Western Australia, November 4-5, 2013
  136. W.Caharija, K.Y. Pettersen, and J.T. Gravdahl, Path Following of Underactuated Surface Vessels in Presence of Unknown Constant Environmental Forces: Preliminary Results, in proceedings of the 9th IFAC Conference on Control Applications in Marine Systems, Osaka, Japan, September 17-20, 2013
  137. Ø.F. Auestad, J.T. Gravdahl and T.I. Fossen, Heave Motion Estimation on a Craft Using a Strapdown Inertial Measurement Unit, in proceedings of the 9th IFAC Conference on Control Applications in Marine Systems, Osaka, Japan, September 17-20, 2013
  138. K.Y. Pettersen, P. Liljebäck, Ø. Stavdahl, and J. T. Gravdahl, Snake Robots: From Biology to Nonlinear Control, in proceedings (semi plenary) of the 9th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2013), Toulouse, France, September 4-6, 2013
  139. T. Utstumo and J.T. Gravdahl, Implementation and comparison of attitude estimation methods for agricultural robotics, in proceedings of the 4th IFAC Conference on Modelling and Control in Agriculture, Horticulture and Post Harvest Industry (AgriControl 2013), Aalto University, School of Electrical Engineering, Espoo, Finland, August 28–30, 2013,
  140. C.J. Backi and J.T. Gravdahl, Optimal Neumann boundary control for a freezing process with phase change, presented at the 18th Nordic Process Control Workshop, 20-23 August, 2013, Oulu, Finland
  141. M. Vagia, A.A. Eielsen, J.T. Gravdahl and K.Y. Pettersen, Design of a nonlinear damping control scheme for nanopositioning, in proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), July 9-12, 2013, Wollongong, Australia
  142. C.J. Backi, J.T. Gravdahl and E.I. Grøtli, Nonlinear observer design for a Greitzer compressor model, in proceedings of the 21st Mediterranean Conference on Control and Automation, MED'13, Chania, Crete, Greece, June 25-28, 2013
  143. S. Gale, S. Vestheim, J.T. Gravdahl, S.A. Fjerdingen and I. Schjølberg, RBF Network Pruning Techniques for Adaptive Learning Controllers, in proceedings of the 9th International Workshop on Robot Motion and Control, Wasowo Palace, Wasowo, Poland, July 3-5, 2013
  144. W.Caharija, K.Y. Pettersen, and J.T. Gravdahl, Counter-Current and Co-Current Guidance of Underactuated Unmanned Marine Vehicles, in proceedings of the 8th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2013,Gold Coast, Australia, 26-28 June, 2013.
  145. Ø.F. Auestad, J.T. Gravdahl, A. Sørensen and T.H. Espeland, Simulator and Control System Design for a Free Floating Surface Effect Ship at Zero Vessel Speed, in proceedings of the 8th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2013,Gold Coast, Australia, 26-28 June, 2013.
  146. W.Caharija, K.Y. Pettersen, and J.T. Gravdahl, Path Following of Marine Surface Vessels with Saturated Transverse Actuators, in proceedings of the 2013 American Control Conference, June 17 - 19, Washington, DC
  147. A.A. Eielsen, M. Vagia, J.T. Gravdahl and K.Y. Pettersen, Fixed-Structure, Low-Order Damping and Tracking Control Schemes for Nanopositioning, in proceedings of the 6th IFAC Symposium on Mechatronic Systemst, Hangzhou, China, April 10 - 12, 2013.
  148. C. Holden, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl, Optimal Mapping from a Continuous 3D Curve to the Position and Shape of a Snake Robot, in proceedings of the IEEE International Conference on Mechatronics, Vicenza, Italy, February, 2013
  149. M. Nygren, R. Birkeland, J.T. Gravdahl, Using independent combinations of CubeSat solar panels as sun sensors for separating inbound sunlight information, 2nd IAA Conference on University Satellite Missions and CubeSat Workshop, Rome, February, 2013
  150. A.A.Eielsen, J.T. Gravdahl , Adaptive Control of a Nanopositioning Device, in proceedings of the IEEE Conference on decision and control, Maui, december 2012
  151. W.Caharija, K.Y. Pettersen, J.T. Gravdahl and E. Børhaug, Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Ocean Currents, in proceedings of the IEEE Conference on decision and control, Maui, december 2012
  152. P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, A Control Framework for Snake Robot Locomotion based on Shape Control Points Interconnected by Bézier Curves, In proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 7-12, 2012, Algarve, Portugal
  153. P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, A Modular and Waterproof Snake Robot Joint Mechanism with a Novel Force/Torque Sensor, In proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 7-12, 2012, Algarve, Portugal
  154. N. Uddin and J.T. Gravdahl, A Compressor Surge Control System: Combination Active Surge Control and Surge Avoidance, In proceedings of the 13th International Symposium on Unsteady Aerodynamics, Aeroacoustics, and Aeroelasticity of Turbomachinery, Tokyo, Japan, September 11th -14th , 2012.
  155. W. Caharija, K.Y. Pettersen, J.T.Gravdahl and E. Børhaug, Integral LOS Guidance for Horizontal Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Vertical Ocean Currents, In proceedings of the 2012 American Control Conference (ACC), June 27 - 29, Montréal, Canada.
  156. A.A.Eielsen, J.T. Gravdahl and K.K. Leang, Robust Damping PI Repetitive Control for Nanopositioning, In proceedings of the 2012 American Control Conference (ACC), June 27 - 29, Montréal, Canada.
  157. N. Uddin and J. T. Gravdahl, Bond graph modeling of centrifugal compressor system, in proceedings of the 10th International Conference on Bond Graph Modeling and Simulation, July 8-11, 2012, Genoa, Italy.
  158. N. Uddin and J.T. Gravdahl, Introducing Back-up to Active Compressor Surge Control System, In proceedings of IFAC Workshop on Automatic Control in Offshore Oil and Gas Production, Trondheim, May 2012.
  159. W. Caharija, K. Y. Pettersen, J.T. Gravdahl and A.J. Sørensen, Topics on Current Compensation for Path Following Applications of Underactuated Underwater Vehicles. In proceedings NGCUV 2012, IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, April 10-12, Porto, Portugal
  160. C. Backi and J.T. Gravdahl, Modeling of Freezing of Fish by Vertical Plate Freezers, Presented at the 17th Nordic Process Control Workshop,Technical University of Denmark, Kgs Lyngby, Denmark, January 25-27, 2012
  161. T.B. Rinnan, R. Birkeland, J.T. Gravdahl, Development on the EQUEST method for attitude determination, Presented at the Fourth European CubeSat Symposium, Ecole Royale Militaire, Brussels, Belgium, 30 January - 1 February, 2012
  162. F.S. Holberg, R. Birkeland, J.T. Gravdahl, Implementation of three axis attitude determination and control system for a double cubesat, Presented at the Fourth European CubeSat Symposium, Ecole Royale Militaire, Brussels, Belgium, 30 January - 1 February, 2012
  163. N. Uddin and J.T.Gravdahl, Compressor Anti Surge System with piston actuation, In proceedings of the 4th ASME Annual Dynamic Systems and Control Conference, Arlington, VA, USA, Oct 31 - Nov 2, 2011
  164. N. Uddin and J.T.Gravdahl, Piston-actuated Active Surge Control of Centrifugal Compressor Including Integral Action, In proceedings of the 11th International Conference on Control, Automation and Systems (ICCAS 2011), KINTEX, Gyeonggi-do, Korea, October 26-29, 2011
  165. K. Jensen, K.H. Yabar and J.T. Gravdahl, A comparison of attitude determination methods: theory and experiments, In proceedings of the 62nd International Astronautical Congress, Cape Town, South Africa, 3 - 7 October, 2011
  166. P.J. From, K.Y. Pettersen, J.T Gravdahl, A Singularity Free Formulation of the Dynamically Equivalent Manipulator Mapping of Space Manipulators. Proceedings of AIAA SPACE Conference & Exposition 2011, 27-29 September 2011, Long Beach, California
  167. A.A.Eielsen, M. Burger, J.T. Gravdahl, K.Y.Pettersen, PI2-Controller Applied to a Piezoelectric Nanopositioner Using Conditional Integrators and Optimal Tuning, In proceedings of the IFAC World Congress, Milano, Italy, August, 2011
  168. A.A. Eielsen, T. Poloni, T.A. Johansen, and J.T.Gravdahl, Experimental Comparison of Online Parameter Identification Schemes for a Nanopositioning Stage with Variable Mass, In proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2011), July 3-7, 2011, Budapest, Hungary
  169. P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Path following control of snake robots in unstructured environments, In proceedings of the 2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China
  170. P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Stability analysis of snake robot locomotion based on averaging theory, in Proc. IEEE Conference on Decision and Control, Atlanta, Georgia, December 15-17, 2010
  171. P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Experimental investigation of fundamental properties of snake robot locomotion, in Proc. 11th International Conference on Control, Automation, Robotics and Vision (ICARCV), 7 - 10 December 2010, Singapore, Finalist for Best Paper Award
  172. P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Fundamental properties of snake robot locomotion, In proc. of the IEEE/RSJ Int. Conf.Intelligent Robots and Systems (IROS), Taiwan, October 18-22, 2010
  173. P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, A simplified model of planar snake robot locomotion, In proc. of the IEEE/RSJ Int. Conf.Intelligent Robots and Systems (IROS), Taiwan, October 18-22, 2010
  174. P.J. From, K.Y. Pettersen and J.T. Gravdahl, Singularity-Free Dynamic Equations of Spacecraft-Manipulator Systems, In proc. of the 61st International Astronautical Congress, Prague, Czech Republic, September 27th - October 1st, 2010
  175. A.A.Eielsen, J.T. Gravdahl, K.Y.Pettersen, L.Vogl, Tracking Control for a Piezoelectric Nanopositioner using Estimated States and Feedforward Compensation of Hysteresis, In Proceedings of the 5th IFAC Symposium on Mechatronic Systems, 2010, Cambridge, Massachusetts, September 13-15
  176. P.J. From, I. Schjølberg, J.T. Gravdahl, K.Y. Pettersen and T.I. Fossen, On the Boundedness and Skew-Symmetric Properties of the Inertia and Coriolis Matrices for Vehicle-Manipulator Systems, In Proceedings of the 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, September 6-8, 2010
  177. P.J. From, K.Y. Pettersen and J.T. Gravdahl, Singularity-Free Dynamic Equations of AUV-Manipulator Systems, In Proceedings of the 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, September 6-8, 2010
  178. Grøtli, E. I., Chaillet, A., Panteley, E., Gravdahl, J. T., Robustness of ISS systems to inputs with limited moving average, with application to spacecraft formations. In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2010), Funchal, Madeira, Portugal, June 15-18, 2010. Awarded with the Best Student Paper Award in the area of Signal Processing, Systems Modeling and Control.
  179. P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl, A hybrid model of obstacle-aided snake robot locomotion, in Proceedings of 2010 IEEE International Conference on Robotics and Automation, May 3-8, 2010, Anchorage, Alaska, USA
  180. P.J. From, P. Abbeel and J.T. Gravdahl, On the Influence of Ocean and Ship Modeling Accuracy on Motion Planning and Control of Robotic Manipulators on Seaborne Platforms, in Proceedings of 2010 IEEE International Conference on Robotics and Automation, May 3-8, 2010, Anchorage, Alaska, USA
  181. P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl, Stability analysis of snake robot locomotion based on Poincaré maps, in Proc.2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), St Louis, Missouri, USA, Oct. 11-15, 2009
  182. P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl, Controllability analysis of planar snake robots influenced by viscous ground friction, in Proc.2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), St Louis, Missouri, USA, Oct. 11-15, 2009
  183. T.R. Krogstad, J.T. Gravdahl, Output feedback control of relative spacecraft attitude, in proceedings of the European Control Conference, Budapest, Hungary, August 23-26, 2009.
  184. P.J. From and J.T. Gravdahl, Fault Tolerance of Parallel Manipulators with Passive Joints, 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, June 30 - July 3, 2009, Barcelona, Spain.
  185. P.J. From and J.T. Gravdahl, Representing sets of orientations as convex cones, in Proceedings of 2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan
  186. P.J. From, V. Duindam, J.T. Gravdahl, S. Sastry, Modeling and motion planning for mechanisms on a non-inertial base, in Proceedings of 2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan
  187. P.J. From and J.T. Gravdahl, Real-time Optimal Trajectory Planning for Robotic Manipulators with Functional Redundancy, in proceedings of the International Conference on Industrial Technology, February 10-13, Churchill, Victoria, Australia, 2009
  188. P.J. From, J.T. Gravdahl , On the equivalence of orientation error and positive definiteness of matrices, in proceedings of the 10th International Conference on Control, Automation, Robotics and Vision - ICARCV 2008, Hanoi, Vietnam, 17- 20 December 2008
  189. S. Hovland, C. Løvaas, J.T. Gravdahl, G.C. Goodwin, Stability of Model Predictive Control Based on Reduced-Order Models, in proceedings of the 47th IEEE CDC, Cancun, Mexico, December, 2008
  190. E.I. Grøtli, A. Chaillet, J.T. Gravdahl, Output Control of Spacecraft in Leader Follower Formation, in proceedings of the 47th IEEE CDC, Cancun, Mexico, December, 2008
  191. T.R. Krogstad, J.T. Gravdahl, E. Børhaug and K.Y. Pettersen, AUVSAT: An experimental platform for spacecraft formation flying, proceedings of the 59th International Astronautical Congress, Glasgow, Scottland, September 29.-October 3rd, 2008
  192. Paul T., T. R. Krogstad and J. T.Gravdahl, UAV Formation Flight using 3D Potential Field, in proceedings of the 16th Mediterranean Conference on Control and Automation, Corsica, France, June 2008.
  193. Hovland S. and J.T. Gravdahl, Complexity Reduction in Explicit MPC through Model Reduction, in proceedings of the 17th IFAC World Congress, July 6-11, 2008, Seoul, Korea
  194. P.J. From and J.T. Gravdahl, Considering passive joints as functional redundancy, in proceedings of the 17th IFAC World Congress, July 6-11, 2008, Seoul, Korea.
  195. E.I. Grøtli, J.T. Gravdahl, Output attitude tracking of formation of spacecraft, in proceedings of the 17th IFAC World Congress, July 6-11, 2008, Seoul, Korea.
  196. G. J. Adams, B. Burke, G.C. Goodwin, J.T. Gravdahl, R. Pierce, A.J. Rojas, Managing steam and concentration disturbances in multi-effect evaporators via nonlinear modelling and control, in proceedings of the 17th IFAC World Congress, July 6-11, 2008, Seoul, Korea.
  197. Grøtli, E. I. and J.T. Gravdahl, Formation Control by Quantized Output Feedback, Proceedings of the 3rd International Symposium on Formation Flying, Missions and Technologies, 23-25 April 2008, Noordwijk, The Netherlands, June 2008, K. Fletcher (Ed.), ESA SP-654
  198. Kristiansen, R., T. R. Krogstad, P. J. Nicklasson and J. T. Gravdahl, PID+ tracking in a leader-follower spacecraft formation, Proceedings of the 3rd International Symposium on Formation Flying, Missions and Technologies, 23-25 April 2008, Noordwijk, The Netherlands, June 2008, K. Fletcher (Ed.), ESA SP-654
  199. From P.J. and J.T. Gravdahl, General Solutions to Functional and Kinematic Redundancy , proc. of the 46th IEEE CDC, New Orleans, 2007
  200. Krogstad T.R., R. Kristiansen, J.T. Gravdahl and P. J. Nicklasson, PID+ backstepping control of relative spacecraft attitude, in proc. of the 7th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Pretoria, South Africa, 2007
  201. Grøtli E.I., J.T. Gravdahl, Passivity based controller-observer schemes for relative translation of a formation of spacecraft, proc. of the 2007 American Control Conference, New York, NY
  202. Bøhagen B., J.T. Gravdahl, Circle criterion observer for a compression system, proc. of the 2007 American Control Conference, New York, NY
  203. Kristiansen R., P.J.Nicklasson, J.T.Gravdahl, Formation Modelling and 6DOF Spacecraft Coordination Control, proc. of the 2007 American Control Conference, New York, NY
  204. From P.J.and J.T. Gravdahl, Representing Attitudes as Sets of Frames, proc. of the 2007 American Control Conference, New York, NY
  205. Kristiansen, R., T. R. Krogstad, P. J. Nicklasson and J. T. Gravdahl, Spacecraft coordination control using PID+ backstepping, proceedings of the 17th IFAC Symposium on Automatic Control in Aerospace (ACA), Toulouse, France, 2007.
  206. Bøhagen B., J.T. Gravdahl, Active surge control using drive torque: dynamic control laws, proc. of the 45th IEEE CDC, San Diego, December 2006
  207. Krogstad T., J T. Gravdahl, 6-DOF mutual synchronization of formation flying spacecraft, proc. of the 45th IEEE CDC, San Diego, December 2006
  208. Kristiansen R., P.J.Nicklasson, J.T.Gravdahl, Quaternion-Based Backstepping Control of Relative Attitude in a Spacecraft Formation, proc. of the 45th IEEE CDC, San Diego, December 2006
  209. Hovland S., K. E. Willcox, J.T. Gravdahl , MPC for Large-Scale Systems via Model Reduction and Multiparametric Quadratic Programming, proc. of the 45th IEEE CDC, San Diego, December 2006
  210. Hovland, S., Willcox K. and Gravdahl, J.T. Constrained Optimal Control for Large-Scale Systems via Model Reduction. Poster presentation. 2006 Conference of the Dutch-Flemish Numerical Analysis Communities, 11 - 13 October 2006, Zeist, The Netherlands.
  211. Hovland S. and J.T. Gravdahl, Order reduction and output feedback stabilization of an unstable CFD model, in Proc. American Control Conference, Minneapolis, Minnesota USA, June 14-16, 2006.
  212. Bondhus A.K., K.Y. Pettersen and J.T Gravdahl, Leader/Follower synchronization of satellite attitude without angular velocity measurements, in proc. of the 44th IEEE Conference on Decition and Control, Seville, Spain, December 2005
  213. Bøhagen B. and J.T. Gravdahl, Active control of compression systems using drive torque; a backstepping approach, in proc. of the 44th IEEE Conference on Decition and Control, Seville, Spain, December 2005
  214. Hovland S. and J.T. Gravdahl, Stabilizing a CFD model of an unstable system, proccedings of SIMS2005, the 46th Scandinavian conference on simulation and modeling, Trondheim, Norway, October 13-14, 2005
  215. R. Kristiansen, E.I. Grøtli, P. J. Nicklasson and J.T. Gravdahl, A model of relative position and attitude in a leader-follower spacecraft formation, proccedings of SIMS2005, the 46th Scandinavian conference on simulation and modeling, Trondheim, Norway, October 13-14, 2005
  216. Krogstad T.R, J.T. Gravdahl and P. Tøndel, Attitude control and stability analysis of satellites in earth and moon orbit, proceedings of the 56th International Astronautical Congress, Fukoka, Japan, October 17-21, 2005
  217. Krogstad T.R., J.T. Gravdahl and R. Kristiansen, Coordinated control of satellites: the attitude case, proceedings of the 56th International Astronautical Congress, Fukoka, Japan, October 17-21, 2005
  218. Sunde B.O. and J.T. Gravdahl, Attitude Determination for the student satellite nCubeII: Kalman Filter, proceedings of the 56th International Astronautical Congress, Fukoka, Japan, October 17-21, 2005
  219. Krogstad T.R., J.T. Gravdahl and P. Tøndel, Explicit model predictive control of a satellite with magnetic torquers, Proceedings of the 13th Mediterranean Conference on Control and Automation, Limassol, Cyprus, June 27-29, 2005
  220. Hegrenæs, Ø., J.T. Gravdahl and P. Tøndel, Attitude Control by means of Explicit Model Predictive Control, via Multi-parametric Quadratic Programming, Proceedings of the 2005 American Control Conference, Portland, Oregon, June 8-10, 2005
  221. Kristiansen, R., P.J. Nicklasson and J. T. Gravdahl, Satellite attitude tracking by quaternion-based backstepping, Proc. IFAC World Congress, Prague, Czech Republic, 2005.
  222. Krøvel, T.D. and J.T. Gravdahl, Pulse Width-Pulse Frequency Modulation of Thrusters for the Micro-Satellite SSETI/ESMO, Space Technology Education Conference, STEC2005, Aalborg, Denmark, 6-8 April 2005
  223. Grøtli E.I. and J.T. Gravdahl, Coordinated control of satellites: the relative position case, Space Technology Education Conference, STEC2005, Aalborg, Denmark, 6-8 April 2005
  224. Krogstad T.R., J.T. Gravdahl and P. Tøndel, Attitude control and stability analysis of satellites in earth and moon orbit, Space Technology Education Conference, STEC2005, Aalborg, Denmark, 6-8 April 2005
  225. Gravdahl, J.T., Magnetic attitude control for satellites, in proc. of the 43rd IEEE Conference on Decition and Control, Bahamas, December 2004
  226. Topland, M. and J.T. Gravdahl, Nonlinear attitude control of the microsatellite ESEO, Proceedings of the 55th International Astronautical Congress, Vancouver, Canada, 2004
  227. Bøhagen, B., O. Stene and J.T. Gravdahl, A GES mass flow observer for compression systems: Design and experiments, Proceedings of the 2004 American Control Conference, Boston, MA, June 2004
  228. Øverby, E.J., J.T. Gravdahl, S.S. Ose and K.M. Fauske, nCube - Norwegian Student satellite: Attitude Determination and Control System, Space Technology Education Conference, STEC2004, EPF Lausanne, Switzerland, 14-16 April 2004
  229. Gravdahl, J.T, E. Eide, A.Skavhaug, K. Svartveit, K. M. Fauske and F. M. Indergaard, Three axis Attitude Determination and Control System for a picosatellite: Design and implementation, Proceedings of the 54th International Astronautical Congress, Bremen, Germany, 2003
  230. Bøhagen, B. and J.T. Gravdahl, On active surge control of compressors using a mass flow observer, Proceedings of the 41st IEEE Conference on Decition and Control, Las Vegas, December, 2002
  231. Gravdahl, J.T., O. Egeland and S.O. Vatland, Drive actuation in active control of centrifugal compressors, 21st Benelux Meeting on Systems and Control, Veldhoven, The Netherlands, March 19-21, 2002
  232. Gravdahl, J.T., O. Egeland and S.O. Vatland, Active surge control of centrifugal compressors using drive torque Proceedings of 40th IEEE Conference on Decition and Control, Orlando, Fl, December 2001
  233. Gravdahl, J.T,  F. Willems, B. de Jager and O. Egeland, Modeling for surge control of centrifugal compressors: comparasion with experiment . Proceedings of the 39th IEEE Conference on Decition and Control, Sydney, Australia, pp. 1341 -1346, vol.2, December 2000
  234. Gravdahl, J.T. and Egeland, O. Two results on compressor surge control with disturbance rejection Proc. of the 37th IEEE Conference on Decition and Control , Tampa, Fl, pp. 2563 -2568, vol.3, December 1998
  235. Gravdahl, J.T. and Egeland, O. A Moore-Greitzer axial compressor model with spool dynamics Proc. of the 36th IEEE Conference on Decition and Control, San Diego, pp. 4714-4719, vol 5, December 1997, .
  236. Gravdahl, J.T. and Egeland, O. Speed and surge control for a low order centrifugal compressor model Proc. of the 1997 IEEE Conference on control applications, October 1997, Conneticut, USA, pp. 344-349. Also in Modeling, Identification and Control, vol. 19, no. 1, pp. 19-26, 1998.
  237. Gravdahl, J.T. and Egeland, O. Control of the three-state Moore-Greitzer compressor model using a close-coupled valve. Proc. of the 1997 European Control Conference, July 1997, Brussels, Belgium.
  238. Gravdahl, J.T. and Egeland, O. Compressor surge control using a close-coupled valve and backstepping. , Proc. of the 1997 American Control Conference, Albuquerque, NM., pp. 982 -986,  vol.2, June 1997.
  239. Gravdahl, J.T. and Egeland, O. Passivity based compressor surge control using a close-coupled valve Proc. of the COSY Workshop on Control of Nonlinear and Uncertain Systems, Zurich, Switzerland, January 17 - 19, 1997, pp. 139-143.
  240. Gravdahl, J.T., Egeland, O., Siciliano, B. and Chiaverini, S. Stability analysis of 6-DOF force/position control for robot manipulators , Proc. 33rd IEEE Conference on Decision and Control,  pp. 2408-2409, vol 3, Lake Buena Vista, Fl., December 1994,

Book Chapters

  1. L.D. Evjemo, T.A. Hassel, E.B. Njaastad, S. Adel, I.F. Onstein, M.H. Arbo, V.Brøtan, A. Cibicik and J.T. Gravdahl, Possibilities and challenges of using robot manipulators in additive manufacturing (AM), in S. Gulbrandsen-Dahl, H.C. Dreyer, E.L. Hinrichsen, H. Holtskog, K. Martinsen, H. Raabe and G. Sziebig (Eds.), Digitalization and Sustainable Manufacturing: Twin Transition in Norway, Routledge (London), October, 2024
  2. E.I. Grøtli, M.A. Brandt, M.H. Arbo, I.F. Onstein, A. Mohammed, and J.T. Gravdahl, Sensor-guided motions for manipulators in manufacturing, in S. Gulbrandsen-Dahl, H.C. Dreyer, E.L. Hinrichsen, H. Holtskog, K. Martinsen, H. Raabe and G. Sziebig (Eds.), Digitalization and Sustainable Manufacturing: Twin Transition in Norway, Routledge (London), October, 2024
  3. E. Kelasidi, M. Jesmani, K.Y. Pettersen and J.T. Gravdahl, Locomotion efficiency optimization of biologically inspired snake robots, in T. Fukuda, F. Chen and Q. Shi (Eds.), Bio-Inspired Robotics, MDPI Books, October, 2018. (This book is a printed edition of the Special Issue Bio-Inspired Robotics that was published in Applied Sciences)
  4. A.M. Kohl, E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl, Model-based LOS Path-following control of planar underwater snake robots, in T.I. Fossen, K.Y. Pettersen, and H. Nijmeijer (eds.), Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, Lecture notes in Control and Information Sciences Vol. 474, Springer International Publishing, 2017. ISBN 978-3-319-55372-6. DOI: 10.1007/978-3-319-55372-6
  5. Grøtli, E. I., Chaillet, A., Panteley, E., Gravdahl, J.T., Optimal controller gain tuning for robust stability of spacecraft formation, in J.A. Cetto, J.-L. Ferrier,
    and J. Filipe (Eds.), Informatics in Control, Automation and Robotics, Revised and Selected Papers from the International Conference on Informatics in Control, Automation and
    Robotics 2010, Series: Lecture Notes in Electrical Engineering, volume 89, part 4, pp335--347, 2011
  6. Krogstad T.R., J.T. Gravdahl, Synchronization of formation-flying spacecraft, in Pettersen, K.Y.; Gravdahl, J.T.; Nijmeijer, H. (Eds.), "Group Coordination and Cooperative Control", Series: Lecture Notes in Control and Information Sciences, Vol. 336, ISBN: 3-540-33468-8, Springer Verlag, Heidelberg, 2006

Patents

Theses:

Editor: Tommy Gravdahl, Contact address: Tommy.Gravdahl@ itk.ntnu.no, Updated: March 6, 2025