Øivind Kåre Kjerstad
About
Professor at NTNU, Department of Ocean Operations and Civil Engineering, Ålesund
My research is primarily geared towards guidance, navigation and control of marine surface vessels with the ambition of unifying the system design to enable automated and safe quay-to-quay operation utilizing the whole available velocity domain. This implies special focus on:
- Nonlinear and hybrid control design
- Sensor fusion, situational awareness, and motion planning
- Vessel dynamics and handling both structure interaction and abrupt unmodeled environmental disturbances
- Actuator modelling and thrust allocation
Publications
2023
-
Emblemsvåg, Jan;
Krokan, Arne;
Æsøy, Vilmar;
Farup, Ivar;
Halse, Karl Henning;
Kjerstad, Øivind Kåre.
(2023)
Det kan ikke søkes forskingsmidler til kjernekraft: – Et sjansespill med Norges energifremtid?.
Universitetsavisa
Feature article
-
Emblemsvåg, Jan;
Krokan, Arne;
Æsøy, Vilmar;
Farup, Ivar;
Halse, Karl Henning;
Kjerstad, Øivind Kåre.
(2023)
Det kan ikke søkes forskingsmidler til kjernekraft: – Et sjansespill med Norges energifremtid?.
Khrono.no
Feature article
2022
-
Helgesen, Håkon Hagen;
Fuglestad, Torbjørn;
Cisek, Krzysztof Piotr;
Vik, Bjørnar;
Kjerstad, Øivind Kåre;
Johansen, Tor Arne.
(2022)
Inertial Navigation Aided by Ultra-Wideband Ranging for Ship Docking and Harbor Maneuvering.
IEEE Journal of Oceanic Engineering
Academic article
-
Thiagarajah, Dinosshan;
Helgesen, Håkon Hagen;
Kjerstad, Øivind Kåre;
Johansen, Tor Arne.
(2022)
Localization for Ships during Automated Docking using a Monocular Camera.
IEEE conference proceedings
Academic chapter/article/Conference paper
2019
-
Værnø, Svenn Are Tutturen;
Skjetne, Roger;
Kjerstad, Øivind Kåre;
Calabrò, Vincenzo.
(2019)
Comparison of control design models and observers for dynamic positioning of surface vessels.
Control Engineering Practice
Academic article
2018
-
Kjerstad, Øivind Kåre;
Lu, Wenjun;
Skjetne, Roger;
Løset, Sveinung.
(2018)
A method for real-time estimation of full-scale global ice loads on floating structures.
Cold Regions Science and Technology
Academic article
-
Kjerstad, Øivind Kåre;
Løset, Sveinung;
Skjetne, Roger;
Skarbø, Runa A..
(2018)
An ice-drift estimation algorithm using radar and ship motion measurements.
IEEE Transactions on Geoscience and Remote Sensing
Academic article
2017
-
Skjetne, Roger;
Sørensen, Mikkel Eske Nørgaard;
Breivik, Morten;
Værnø, Svenn Are Tutturen;
Brodtkorb, Astrid H.;
Sørensen, Asgeir Johan.
(2017)
AMOS DP Research Cruise 2016: Academic full-scale testing of experimental dynamic positioning control algorithms onboard R/V Gunnerus.
The American Society of Mechanical Engineers (ASME)
Academic chapter/article/Conference paper
2016
-
Kjerstad, Øivind Kåre;
Værnø, Svenn Are Tutturen;
Skjetne, Roger.
(2016)
A Robust Dynamic Positioning Tracking Control Law Mitigating Integral Windup.
IFAC-PapersOnLine
Academic article
-
Kjerstad, Øivind Kåre;
Skjetne, Roger.
(2016)
Disturbance rejection by acceleration feedforward for marine surface vessels.
IEEE Access
Academic article
2015
-
Kjerstad, Øivind Kåre;
Metrikin, Ivan;
Løset, Sveinung;
Skjetne, Roger.
(2015)
Experimental and phenomenological investigation of dynamic positioning in managed ice.
Cold Regions Science and Technology
Academic article
-
Kjerstad, Øivind Kåre;
Metrikin, Ivan;
Skjetne, Roger.
(2015)
Description and numerical simulations of dynamic positioning in reversing managed ice.
Proceedings - International Conference on Port and Ocean Engineering under Arctic Conditions
Academic article
-
Ren, Zhengru;
Skjetne, Roger;
Kjerstad, Øivind Kåre.
(2015)
A Tension-based Position Estimation Approach for Moored Marine Vessels.
Elsevier
Academic chapter/article/Conference paper
-
Gjessing, Ivar Aleksander;
Skjetne, Roger;
Kjerstad, Øivind Kåre;
Heyn, Hans-Martin.
(2015)
Control and Simulation of a Thruster-Assisted Moored Offshore Vessel in Sea-ice.
Norges teknisk-naturvitenskapelige universitet
Norges teknisk-naturvitenskapelige universitet
Masters thesis
2014
-
Kjerstad, Øivind Kåre;
Skjetne, Roger.
(2014)
Modeling and Control for Dynamic Positioned Marine Vessels in Drifting Managed Sea Ice.
MIC Journal: Modeling, Identification and Control
Academic article
-
Tutturen, Svenn Are;
Skjetne, Roger;
Kjerstad, Øivind Kåre.
(2014)
Topics in dynamic positioning: System identification, GNSS and MRU lever arm estimation, and hybrid integral action.
Norges teknisk-naturvitenskapelige universitet
Norges teknisk-naturvitenskapelige universitet
Masters thesis
-
Tran, Nam Dinh;
Skjetne, Roger;
Kjerstad, Øivind Kåre.
(2014)
Line-Of-Sight-based maneuvering control design, implementation, and experimental testing for the model ship C/S Enterprise I.
Norges teknisk-naturvitenskapelige universitet
Norges teknisk-naturvitenskapelige universitet
Masters thesis
-
Kajanus, Robert;
Skjetne, Roger;
Candeloro, Mauro;
Kjerstad, Øivind Kåre.
(2014)
Optimal recursive thrust allocation applied for ROV Minerva.
Norges teknisk-naturvitenskapelige universitet
Norges teknisk-naturvitenskapelige universitet
Masters thesis
2013
-
Su, Biao;
Kjerstad, Øivind Kåre;
Skjetne, Roger;
Berg, Tor Einar.
(2013)
ICE-GOING CAPABILITY ASSESSMENT AND DP-ICE CAPABILITY PLOT FOR A DOUBLE ACTING INTERVENTION VESSEL IN LEVEL ICE.
Academic chapter/article/Conference paper
-
Kjerstad, Øivind Kåre;
Skjetne, Roger;
Berge, Bjørn Ola.
(2013)
Constrained nullspace-based thrust allocation for heading prioritized stationkeeping of offshore vessels in ice.
Academic chapter/article/Conference paper
-
Skjetne, Roger;
Kjerstad, Øivind Kåre.
(2013)
Recursive nullspace-based control allocation with strict prioritization for marine craft.
IFAC Papers Online
Academic chapter/article/Conference paper
2012
-
Kjerstad, Øivind Kåre;
Skjetne, Roger.
(2012)
Feedforward linearization and disturbance rejection of mechanical systems using acceleration measurements.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Kjerstad, Øivind Kåre;
Skjetne, Roger.
(2012)
Observer design with disturbance rejection by acceleration feedforward.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Makrygiannis, Anna;
Skjetne, Roger;
Kjerstad, Øivind Kåre;
Scibilia, Francesco.
(2012)
Design and simulation of an ice-capable DP control system.
Norges teknisk-naturvitenskapelige universitet
Norges teknisk-naturvitenskapelige universitet
Masters thesis
2011
-
Kjerstad, Øivind Kåre;
Skjetne, Roger;
Jenssen, Nils Albert.
(2011)
Disturbance rejection by acceleration feedforward: Application to dynamic positioning.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Skåtun, Håkon Nødset;
Skjetne, Roger;
Kjerstad, Øivind Kåre.
(2011)
Development of a DP system for CS Enterprise I with Voith Schneider thrusters.
Norges teknisk-naturvitenskapelige universitet
Norges teknisk-naturvitenskapelige universitet
Masters thesis
2010
-
Kjerstad, Øivind Kåre;
Breivik, Morten.
(2010)
Weather Optimal Positioning Control for Marine Surface Vessels.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Journal publications
-
Emblemsvåg, Jan;
Krokan, Arne;
Æsøy, Vilmar;
Farup, Ivar;
Halse, Karl Henning;
Kjerstad, Øivind Kåre.
(2023)
Det kan ikke søkes forskingsmidler til kjernekraft: – Et sjansespill med Norges energifremtid?.
Universitetsavisa
Feature article
-
Emblemsvåg, Jan;
Krokan, Arne;
Æsøy, Vilmar;
Farup, Ivar;
Halse, Karl Henning;
Kjerstad, Øivind Kåre.
(2023)
Det kan ikke søkes forskingsmidler til kjernekraft: – Et sjansespill med Norges energifremtid?.
Khrono.no
Feature article
-
Helgesen, Håkon Hagen;
Fuglestad, Torbjørn;
Cisek, Krzysztof Piotr;
Vik, Bjørnar;
Kjerstad, Øivind Kåre;
Johansen, Tor Arne.
(2022)
Inertial Navigation Aided by Ultra-Wideband Ranging for Ship Docking and Harbor Maneuvering.
IEEE Journal of Oceanic Engineering
Academic article
-
Værnø, Svenn Are Tutturen;
Skjetne, Roger;
Kjerstad, Øivind Kåre;
Calabrò, Vincenzo.
(2019)
Comparison of control design models and observers for dynamic positioning of surface vessels.
Control Engineering Practice
Academic article
-
Kjerstad, Øivind Kåre;
Lu, Wenjun;
Skjetne, Roger;
Løset, Sveinung.
(2018)
A method for real-time estimation of full-scale global ice loads on floating structures.
Cold Regions Science and Technology
Academic article
-
Kjerstad, Øivind Kåre;
Løset, Sveinung;
Skjetne, Roger;
Skarbø, Runa A..
(2018)
An ice-drift estimation algorithm using radar and ship motion measurements.
IEEE Transactions on Geoscience and Remote Sensing
Academic article
-
Kjerstad, Øivind Kåre;
Værnø, Svenn Are Tutturen;
Skjetne, Roger.
(2016)
A Robust Dynamic Positioning Tracking Control Law Mitigating Integral Windup.
IFAC-PapersOnLine
Academic article
-
Kjerstad, Øivind Kåre;
Skjetne, Roger.
(2016)
Disturbance rejection by acceleration feedforward for marine surface vessels.
IEEE Access
Academic article
-
Kjerstad, Øivind Kåre;
Metrikin, Ivan;
Løset, Sveinung;
Skjetne, Roger.
(2015)
Experimental and phenomenological investigation of dynamic positioning in managed ice.
Cold Regions Science and Technology
Academic article
-
Kjerstad, Øivind Kåre;
Metrikin, Ivan;
Skjetne, Roger.
(2015)
Description and numerical simulations of dynamic positioning in reversing managed ice.
Proceedings - International Conference on Port and Ocean Engineering under Arctic Conditions
Academic article
-
Kjerstad, Øivind Kåre;
Skjetne, Roger.
(2014)
Modeling and Control for Dynamic Positioned Marine Vessels in Drifting Managed Sea Ice.
MIC Journal: Modeling, Identification and Control
Academic article
-
Kjerstad, Øivind Kåre;
Skjetne, Roger.
(2012)
Feedforward linearization and disturbance rejection of mechanical systems using acceleration measurements.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Kjerstad, Øivind Kåre;
Skjetne, Roger.
(2012)
Observer design with disturbance rejection by acceleration feedforward.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Kjerstad, Øivind Kåre;
Skjetne, Roger;
Jenssen, Nils Albert.
(2011)
Disturbance rejection by acceleration feedforward: Application to dynamic positioning.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Kjerstad, Øivind Kåre;
Breivik, Morten.
(2010)
Weather Optimal Positioning Control for Marine Surface Vessels.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Part of book/report
-
Thiagarajah, Dinosshan;
Helgesen, Håkon Hagen;
Kjerstad, Øivind Kåre;
Johansen, Tor Arne.
(2022)
Localization for Ships during Automated Docking using a Monocular Camera.
IEEE conference proceedings
Academic chapter/article/Conference paper
-
Skjetne, Roger;
Sørensen, Mikkel Eske Nørgaard;
Breivik, Morten;
Værnø, Svenn Are Tutturen;
Brodtkorb, Astrid H.;
Sørensen, Asgeir Johan.
(2017)
AMOS DP Research Cruise 2016: Academic full-scale testing of experimental dynamic positioning control algorithms onboard R/V Gunnerus.
The American Society of Mechanical Engineers (ASME)
Academic chapter/article/Conference paper
-
Ren, Zhengru;
Skjetne, Roger;
Kjerstad, Øivind Kåre.
(2015)
A Tension-based Position Estimation Approach for Moored Marine Vessels.
Elsevier
Academic chapter/article/Conference paper
-
Su, Biao;
Kjerstad, Øivind Kåre;
Skjetne, Roger;
Berg, Tor Einar.
(2013)
ICE-GOING CAPABILITY ASSESSMENT AND DP-ICE CAPABILITY PLOT FOR A DOUBLE ACTING INTERVENTION VESSEL IN LEVEL ICE.
Academic chapter/article/Conference paper
-
Kjerstad, Øivind Kåre;
Skjetne, Roger;
Berge, Bjørn Ola.
(2013)
Constrained nullspace-based thrust allocation for heading prioritized stationkeeping of offshore vessels in ice.
Academic chapter/article/Conference paper
-
Skjetne, Roger;
Kjerstad, Øivind Kåre.
(2013)
Recursive nullspace-based control allocation with strict prioritization for marine craft.
IFAC Papers Online
Academic chapter/article/Conference paper
Report
-
Gjessing, Ivar Aleksander;
Skjetne, Roger;
Kjerstad, Øivind Kåre;
Heyn, Hans-Martin.
(2015)
Control and Simulation of a Thruster-Assisted Moored Offshore Vessel in Sea-ice.
Norges teknisk-naturvitenskapelige universitet
Norges teknisk-naturvitenskapelige universitet
Masters thesis
-
Tutturen, Svenn Are;
Skjetne, Roger;
Kjerstad, Øivind Kåre.
(2014)
Topics in dynamic positioning: System identification, GNSS and MRU lever arm estimation, and hybrid integral action.
Norges teknisk-naturvitenskapelige universitet
Norges teknisk-naturvitenskapelige universitet
Masters thesis
-
Tran, Nam Dinh;
Skjetne, Roger;
Kjerstad, Øivind Kåre.
(2014)
Line-Of-Sight-based maneuvering control design, implementation, and experimental testing for the model ship C/S Enterprise I.
Norges teknisk-naturvitenskapelige universitet
Norges teknisk-naturvitenskapelige universitet
Masters thesis
-
Kajanus, Robert;
Skjetne, Roger;
Candeloro, Mauro;
Kjerstad, Øivind Kåre.
(2014)
Optimal recursive thrust allocation applied for ROV Minerva.
Norges teknisk-naturvitenskapelige universitet
Norges teknisk-naturvitenskapelige universitet
Masters thesis
-
Makrygiannis, Anna;
Skjetne, Roger;
Kjerstad, Øivind Kåre;
Scibilia, Francesco.
(2012)
Design and simulation of an ice-capable DP control system.
Norges teknisk-naturvitenskapelige universitet
Norges teknisk-naturvitenskapelige universitet
Masters thesis
-
Skåtun, Håkon Nødset;
Skjetne, Roger;
Kjerstad, Øivind Kåre.
(2011)
Development of a DP system for CS Enterprise I with Voith Schneider thrusters.
Norges teknisk-naturvitenskapelige universitet
Norges teknisk-naturvitenskapelige universitet
Masters thesis
Teaching
Courses
Media
2022
-
Academic lectureThiagarajah, Dinosshan; Helgesen, Håkon Hagen; Kjerstad, Øivind Kåre; Johansen, Tor Arne. (2022) Localization for Ships during Automated Docking using a Monocular Camera. European Control Conference 2022-07-12 - 2022-07-15
2016
-
Academic lectureKjerstad, Øivind Kåre; Værnø, Svenn Are Tutturen; Skjetne, Roger. (2016) A Robust Dynamic Positioning Tracking Control Law Mitigating Integral Windup. IFAC Conference on Control Applications in Marine Systems , Trondheim 2016-09-13 - 2016-09-16
2015
-
Academic lectureRen, Zhengru; Skjetne, Roger; Kjerstad, Øivind Kåre. (2015) A Tension-based Position Estimation Approach for Moored Marine Vessels. IFAC 10th IFAC Conf. Manoeuvring and Control of Marine Craft , Køpenhavn 2015-08-24 - 2015-08-26
2014
-
Academic lectureSkjetne, Roger; Kjerstad, Øivind Kåre. (2014) Recursive nullspace-based control allocation with strict prioritization for marine craft. NTNU AUR-Lab NTNU AUR-Lab workshop , Trondheim 2014-03-03 - 2014-03-04
2013
-
Academic lectureKjerstad, Øivind Kåre; Skjetne, Roger; Berge, Bjørn Ola. (2013) Constrained nullspace-based thrust allocation for heading prioritized stationkeeping of offshore vessels in ice. POAC 22nd Int. Conf. on Port and Ocean Engineering under Arctic Conditions , Espoo 2013-06-09 - 2013-06-13
-
Academic lectureSkjetne, Roger; Kjerstad, Øivind Kåre. (2013) Recursive nullspace-based control allocation with strict prioritization for marine craft. Int. Federation of Automatic Control 9th IFAC Conf. on Control Applications in Marine Systems , Osaka 2013-09-17 - 2013-09-20
2012
-
Academic lectureKjerstad, Øivind Kåre; Skjetne, Roger. (2012) Observer design with disturbance rejection by acceleration feedforward. International Federation of Automatic Control (IFAC) 7th IFAC Symposium on Robust Control Design (Rocond'12) , Aalborg 2012-06-20 - 2012-06-22
-
Academic lectureKjerstad, Øivind Kåre; Skjetne, Roger. (2012) Feedforward linearization and disturbance rejection of mechanical systems using acceleration measurements. International Federation of Automatic Control (IFAC) 7th IFAC Symposium on Robust Control Design (Rocond'12) , Aalborg 2012-06-20 - 2012-06-22
2011
-
Academic lectureKjerstad, Øivind Kåre; Skjetne, Roger; Jenssen, Nils Albert. (2011) Disturbance rejection by acceleration feedforward: Application to dynamic positioning. International Federation of Automatic Control IFAC World Congress 2011 , Milano 2011-08-28 - 2011-09-02
2010
-
Popular scientific lectureKjerstad, Øivind Kåre; Breivik, Morten. (2010) Weather Optimal Positioning Control for Marine Surface Vessels. IFAC Proceedings of the 8th IFAC CAMS , Warnemünde (Rostock) 2010-09-15 - 2010-09-17