Thor I. Fossen
Background and activities
Thor I. Fossen is professor of guidance, navigation and control at the NTNU Department of Engineering Cybernetics. His educational background covers marine technology, aeronautics and astronautics, computer science, automatic control and cybernetics.
Fossen's research fields include estimation theory, automated situational awareness, autonomy, mathematical modeling and simulation of aircraft, marine craft, unmanned vehicles, guidance, navigation and control systems. This includes sensor fusion and observers for navigation systems (inertial and camera-based systems). He has published 450 conference and journal papers and authored 6 international textbooks, see
Fossen is one of the founders of the company Marine Cybernetics AS (2002), which was aquired by DNV GL. Fossen is one of the founders of the company SCOUT Drone Inspection (2017) and he is involved in several high-tech companies in Trondheim.
Teaching:
- TTK 4190 Guidance and Control of Vehicles (Master course)
- TK 8109 Advanced Topics in Guidance and Navigation (PhD course)
Awards/Honors:
- IEEE Fellow, 2016
- Norwegian Academy of Technological Sciences, 1998
- Arch T. Colwell Merit Award i 2008 at the SAE World Congress for Nonlinear Observer for Vehicle Velocity Estimation co-authored by L. Imsland, T. A. Johansen, J. C. Kalkkuhl and A. Suissa.
- Automatica Best Paper Prize i 2002 for "Nonlinear Passive Weather Optimal Positioning Control (WOPC) System for Ships and Rigs: Experimental Results", Automatica, vol. 37, 2001, pages 701-715 co-authored by Dr. Jann Peter Strand.
- IFAC MCMC'15 Best Regular Paper Award for a paper entitled "A Virtual Vertical Reference Concept for GNSS/INS Applications at the Sea Surface" together with Torleiv H. Bryne and Tor Arne Johansen.
- ExxonMobil award to PhD candidates in 2000, 2003 og 2005 for best PhD theses at NTNU
Appointments:
- 2013-present. Co-director/Key Scientist, NTNU Centre for Autonomous Marine Operations and Systems
- 2017-present. Vice President, SCOUT Drone Inspection AS.
- 2018-2019. Associate Editor, "Journal of Ship Research", SNAME
- 2017-2019. Associate Editor, IFAC Journal "Control Engineering Practice" (CEP)
- 2018-2019. Associate Editor, International Conference on Unmanned Aerial Systems (ICUAS'18)
- 2018 Associate editor at large, IEEE Conference of Control Technology and Applications (CCTA'18)
- 2018 Industry Chair, IEEE Conference of Control Technology and Applications (CCTA'18)
- 2014-2017. Medlem av styringskomiteen til the International Conference on Unmanned Aerial Systems (ICUAS)
- 2017-present. Associate Editor, IFAC Journal "Control Engineering Practice" (CEP)
- 2018 Industry Chair, IEEE Conference of Control Technology and Applications (CCTA'18)
- 2014-2017. Member of the steering committee of the International Conference on Unmanned Aerial Systems (ICUAS).
- 2016 Vice-chair, IFAC CAMS’16, Norway
- 2013 Otto Mønsted Visiting Professor, Department of Electrical Engineering, Technical University of Denmark
- 2008-2012 Head of Automatic Control, NTNU Centre for Ships and Ocean Structures
- 2002-2012 Key Scientist, NTNU Centre for Ships and Ocean Structures
- 2002-2008 Vice President R&D and Co-Founder of Marine Cybernetics AS
- 2004-2007 Senior scientific advisor, SINTEF Electronics and Cybernetics, Trondheim
- 2002-2010 Deputy Head, NTNU Department of Engineering Cybernetics
- 2002-2003 Senior scientific advisor, Kongsberg Maritime AS
- 2002-2006 Associate Editor of Automatica
- 2002 Visiting Professor, Department of Applied Mechanichs and Engineering Sciences, UCSD, San Diego, USA
- 1999 Visiting Professor, Department of Control Engineering, Aalborg University, Denmark
- 1996-2000 Chair, IEEE Oceanic Engineering and Control Systems Joint Society Chapter of the Norway Section
- 1999-2002 Senior scientific advisor, MARINTEK, Trondheim
- 1998 Chair, International Program Committee of IFAC CAMS'98, Fukuoka, Japan
- 1995 Chair, National Organizing Committee (NOC) of IFAC CAMS'95, Norway
- 1995-2002 Senior scientific advisor, ABB, Oslo
- 1991-1998 Senior scientific advisor, SINTEF Automatic Control, Trondheim
Scientific, academic and artistic work
Displaying a selection of activities. See all publications in the database
2019
- (2019) A Machine Learning Approach for Estimating Air Data Parameters. IEEE Transactions on Aerospace and Electronic Systems.
- (2019) Kalman Filters for Air Data System Bias Correction for a Fixed-Wing UAV. IEEE Transactions on Control Systems Technology.
- (2019) Modeling of Underwater Vehicles. Encyclopedia of Robotics.
- (2019) Guidance, Navigation and Control of Fixed-Wing Unmanned Aerial Vehicles. Encyclopedia of Robotics.
- (2019) Underwater Position and Attitude Estimation Using Acoustic, Inertial, and Depth Measurements. IEEE Journal of Oceanic Engineering.
- (2019) Cooperative Control for Multirotors Transporting an Unknown Suspended Load under Environmental Disturbances. IEEE Transactions on Control Systems Technology.
- (2019) Robust Navigation System for UAVs in GNSS-and Magnetometer-Denied Environments. International Conference on Unmanned Aircraft Systems.
- (2019) Guidance of Autonomous Underwater Vehicles. Encyclopedia of Robotics.
- (2019) Dead reckoning of dynamically positioned ships: Using an efficient recurrent neural network. IEEE robotics & automation magazine. vol. 26 (3).
- (2019) Uniformly semiglobally exponential stability of vector field guidance law and autopilot for path-following. European Journal of Control.
2018
- (2018) Air Data Estimation for Small Unmanned Aircraft. 2018. ISBN 978-82-326-3384-5.
- (2018) A virtual vertical reference concept for aided inertial navigation at the sea surface. Control Engineering Practice. vol. 70.
- (2018) Extended Kalman Filter Design and Motion Prediction of Ships using Live Automatic Identification System (AIS) Data. Proceedings of the European Conference on Electrical Engineering and Computer Science.
- (2018) eXogenous Kalman Filter (XKF) for Visualization and Motion Prediction of Ships using Live Automatic Identification Systems (AIS) Data. Modeling, Identification and Control. vol. 39 (4).
- (2018) Aerodynamic modeling of the Skywalker X8 Fixed-Wing Unmanned Aerial Vehicle. 2018 International Conference on Unmanned Aircraft Systems.
- (2018) Nonlinear Observer for Tightly Coupled Integrated Inertial Navigation Aided by RTK-GNSS Measurements. IEEE Transactions on Control Systems Technology.
- (2018) Experimental validation of attitude and rate-sensor bias filter using range-difference measurements. Control Engineering Practice. vol. 73.
- (2018) Feedback Linearization Control for Systems with Mismatched Uncertainties via Disturbance Observers. Asian journal of control.
- (2018) Autonomous recovery of a fixed-wing UAV using a net suspended by two multirotor UAVs. Journal of Field Robotics. vol. 35 (5).
- (2018) Redundant MEMS-based Inertial Navigation using Nonlinear Observers. Journal of Dynamic Systems Measurement, and Control. vol. 140 (7).
- (2018) A Neural Network Approach to Control Allocation of Ships for Dynamic Positioning. IFAC-PapersOnLine. vol. 51 (29).
- (2018) Attitude estimation by multiplicative exogenous Kalman filter. Automatica. vol. 95.
2017
- (2017) Design of inertial navigation systems for marine craft with adaptive wave filtering aided by triple-redundant sensor packages. International Journal of Adaptive Control and Signal Processing. vol. 31 (4).
- (2017) Nonlinear observers for integrated INS\/GNSS navigation: implementation aspects. IEEE Control Systems. vol. 37 (3).
- (2017) Inertial Sensors for Risk-Based Redundancy in Dynamic Positioning. ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering . The American Society of Mechanical Engineers (AMSE); Trondheim. 2017-06-25 - 2017-06-30.
- (2017) Inertial Sensors for Risk-Based Redundancy in Dynamic Positioning. ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering - Volume 1: Offshore Technology.
- (2017) Direct and Indirect Adaptive Integral Line-of-Sight Path-Following Controllers for Marine Craft Exposed to Ocean Currents. International Journal of Adaptive Control and Signal Processing. vol. 31 (4).
- (2017) Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles. Springer. 2017. ISBN 978-3-319-55371-9. Lecture notes in control and information sciences (-).
- (2017) Preface. Lecture notes in control and information sciences. vol. 474.
- (2017) Camera-aided Inertial Navigation for Unmanned Vehicles using Non-linear Observers. Norges teknisk-naturvitenskapelige universitet. 2017. ISBN 978-82-326-2522-2. Doktoravhandlinger ved NTNU (255).
- (2017) Nonlinear Camera- and GNSS-aided INS for Fixed-Wing UAV using the eXogenous Kalman Filter. Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles.
- (2017) Non-linear Observers for GNSS- and Camera-Aided Inertial Navigation of a Fixed-Wing UAV. IEEE Transactions on Control Systems Technology. vol. 26 (5).
- (2017) Dead Reckoning of a Fixed-Wing UAV with Inertial Navigation Aided by Optical Flow. 2017 International Conference on Unmanned Aircraft Systems.
- (2017) Robust Navigation of UAV using Inertial Sensors Aided by UWB and RTK GPS. AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum . American Institute of Aeronautics and Astronautics; Grapevine, Texas. 2017-01-09 - 2017-01-13.
- (2017) Nonlinear observer design for GNSS-aided inertial navigation systems with time-delayed GNSS measurements. Control Engineering Practice. vol. 60.
- (2017) Tracking of Ocean Surface Objects from Unmanned Aerial Vehicles with a Pan/Tilt Unit using a Thermal Camera. Journal of Intelligent and Robotic Systems.
- (2017) Detection and Tracking of Floating Objects using an UAV with Thermal Camera. Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles.
- (2017) Detection and tracking of floating objects using a UAV with thermal camera. Lecture notes in control and information sciences. vol. 474.
- (2017) The eXogenous Kalman Filter (XKF). International Journal of Control. vol. 90 (2).
- (2017) Nonlinear Filtering with eXogenous Kalman Filter and Double Kalman Filter. Control Conference (ECC), 2016 European.
- (2017) Nonlinear Observer for Tightly Integrated Inertial Navigation Aided by Pseudo-Range Measurements. Journal of Dynamic Systems Measurement, and Control. vol. 139 (1).
- (2017) Nonlinear Control with Swing Damping of a Multirotor UAV with Suspended Load. Journal of Intelligent and Robotic Systems. vol. 88 (2-4).
- (2017) Object Detection and Tracking With UAVs. Norges teknisk-naturvitenskapelige universitet. 2017. ISBN 978-82-326-2010-4. Doktoravhandlinger ved NTNU (1).
- (2017) A UAV Ice Tracking Framework for Autonomous Sea Ice Management. 2017 International Conference on Unmanned Aircraft Systems.
- (2017) Passivity-based Formation Control for UAVs with a Suspended Load. IFAC2017 World Congress . IFAC; Tolouse, France. 2017-07-09 - 2017-07-14.
- (2017) Spatially Indexed Clustering for Scalable Tracking of Remotely Sensed Drift Ice. 2017 IEEE Aerospace Conference.
- (2017) Stabilization of Floating Wind Turbines. Norges teknisk-naturvitenskapelige universitet. 2017. ISBN 978-82-326-2336-5. Doktoravhandlinger ved NTNU (132).
- (2017) Validation of nonlinear integrated navigation solutions. Annual Reviews in Control. vol. 43.
2016
- (2016) Modeling and Control of Underwater Robotics. Springer Handbook of Robotics.
- (2016) A Nonlinear Model-Based Wind Velocity Observer for Unmanned Aerial Vehicles. 10th IFAC Symposium on Nonlinear Control System (NOLCOS´16) . IFAC; Monterey, CA. 2016-08-23 - 2016-08-25.
- (2016) Attitude and Heave Estimation for Ships using MEMS-based Inertial Measurements. IFAC-PapersOnLine. vol. 49 (23).
- (2016) Nonlinear Observer Design for Strapdown Inertial Navigation Systems. 10th IFAC Symposium on Nonlinear Control System (NOLCOS´16) . IFAC; Monterey, CA. 2016-08-23 - 2016-08-25.
- (2016) People in Control. Control Systems Magazine. vol. 36 (3).
- (2016) Model-based Ship Motion Control Design. Compendium of Ships Hydrodynamics. Practical Tools and Application.
- (2016) A globally exponentially stable non-linear velocity observer for vision-aided UAV dead reckoning. 2016 IEEE Aerospace Conference (AERO 2016).
- (2016) Nonlinear Observer for Attitude, Position and Velocity: Theory and Experiments. Multisensor Attitude Estimation: Fundamental Concepts and Applications.
- (2016) Tightly Coupled Integrated Inertial and Real-Time-Kinematic Positioning Approach Using Nonlinear Observer. American Control Conference (ACC'16) ; Boston. 2016-07-06 - 2016-07-08.
- (2016) Validation and Experimental Testing of Observers for Robust GNSS-Aided Inertial Navigation. Recent Advances in Robotic Systems.
- (2016) Tracking of Marine Surface Objects from Unmanned Aerial Vehicles with a Pan/Tilt Unit using a Thermal Camera and Optical Flow. 2016 International Conference on Unmanned Aircraft Systems (ICUAS) . IEEE; Washington, DC. 2016-06-07 - 2016-06-10.
- (2016) A vision-aided nonlinear observer for fixed-wing UAV navigation. AIAA Guidance, Navigation, and Control Conference 2016..
- (2016) Vision-aided nonlinear observer for fixed-wing unmanned aerial vehicle navigation. Journal of Guidance Control and Dynamics. vol. 39 (8).
- (2016) Nonlinear Filtering with eXogenous Kalman Filter and Double Kalman Filter. European Control Conference ; 2016-06-29 - 2016-07-01.
- (2016) Nonlinear Observer for Tightly Coupled Integration of Pseudorange and Inertial Measurements. IEEE Transactions on Control Systems Technology. vol. 24 (6).
- (2016) Three-stage filter for position estimation using pseudorange measurements. IEEE Transactions on Aerospace and Electronic Systems. vol. 52 (4).
- (2016) Coordinated Control Concept for Recovery of a Fixed-Wing UAV on a Ship using a Net Carried by Multirotor UAVs. 2016 International Conference on Unmanned Aircraft Systems (ICUAS) . IEEE; Washington, DC. 2016-06-06 - 2016-06-19.
- (2016) Non-linear Model Predictive Control for Longitudinal and Lateral Guidance of a Small Fixed-Wing UAV in Precision Deep Stall Landing. AIAA Infotech @ Aerospace, 2016 . AIAA Scitech Forum; San Diego, California. 2016-01-04 - 2016-01-08.
- (2016) Line-of-Sight Curved Path Following for Underactuated USVs and AUVs in the Horizontal Plane under the influence of Ocean Currents. IEEE Mediterranean Conference on Control & Automation.
- (2016) Hydrodynamic Models for Motion Control. Compendium of Ships Hydrodynamics. Practical Tools and Application.
- (2016) MEMS-based Inertial Navigation on Dynamically Positioned Ships: Dead Reckoning. IFAC-PapersOnLine. vol. 49 (23).
- (2016) Fault detection in lever-arm-compensated position reference systems based on nonlinear attitude observers and inertial measurements in dynamic positioning. American Control Conference (ACC).
- (2016) Three-stage filter for position and velocity estimation from long baseline measurements with unknown wave speed. American Control Conference (ACC).
2015
- (2015) Experimental Verification of a Global Exponentially Stable Nonlinear Wave Encounter Frequency Estimator. Ocean Engineering. vol. 97.
- (2015) A virtual vertical reference concept for GNSS/INS applications at the sea surface. IFAC-PapersOnLine. vol. 48 (16).
- (2015) Cascaded line-of-sight path-following and sliding mode controllers for fixed-wing UAVs. 2015 IEEE Conference on Control Applications, CCA 2015.
- (2015) Cascaded Line-of-Sight Path-Following and Sliding Mode Controllers for Fixed-Wing UAVs. 2015 IEEE Multi-Conference on Systems and Control (MSC'15) ; Sydney. 2015-09-21 - 2015-09-23.
- (2015) IEEE gjør ære på kybernetiker. Universitetsavisa [Internett]. 2015-11-30.
- (2015) Mathematical Models of Ships and Underwater Vehicles. Encyclopedia of Systems and Control.
- (2015) Line-of-Sight Path Following for Dubins Paths with Adaptive Sideslip Compensation of Drift Forces. IEEE Transactions on Control Systems Technology. vol. 23 (2).
- (2015) Experimental Validation of a Uniformly Semi-globally Exponentially Stable Non-linear Observer for GNSS- and Camera-aided Inertial Navigation for Fixed-wing UAVs. International Conference on Unmanned Aircraft Systems (ICUAS'15) ; Denver. 2015-06-09 - 2015-06-12.
- (2015) High Angle of Attack Landing of an Unmanned Aerial Vehicle. Norges teknisk-naturvitenskapelige universitet. 2015.
- (2015) Nonlinear Observer for INS Aided by Time-Delayed GNSS Measurements - Implementation and UAV Experiments. 2015 International Conference on Unmanned Aircraft Systems (ICUAS).
- (2015) On Estimation of Wind Velocity, Angle-of-Attack and Sideslip Angle of small UAVs using Standard Sensors. 2015 International Conference on Unmanned Aircraft Systems (ICUAS).
- (2015) Nonlinear Observer for Inertial Navigation Aided by Pseudo-Range and Range-Rate Measurements. Proceedings of the 14th European Control Conference 2015 (ECC 2015).
- (2015) Nonlinear control of a multirotor UAV with suspended load. 2015 International Conference on Unmanned Aircraft Systems (ICUAS) ; 2015-06-08 - 2015-06-10.
- (2015) Cooperative path-following for multirotor UAVs with a suspended payload. 2015 IEEE Conference on Control Applications, CCA 2015.
- (2015) Automatic detection, classification and tracking of objects in the ocean surface from UAVs using a thermal camera. IEEE Aerospace Conference. Proceedings. vol. 2015-June.
- (2015) A Light-Weight Thermal Camera Payload with Georeferencing Capabilities for Small Fixed-Wing UAVs. 2015 International Conference on Unmanned Aircraft Systems (ICUAS).
- (2015) Modeling for IMU-based online estimation of a ship's mass and center of mass. IFAC-PapersOnLine. vol. 48 (16).
- (2015) Online estimation of ship's mass and center of mass using inertial measurements. IFAC-PapersOnLine. vol. 48 (16).
- (2015) Nonlinear Model Predictive Control for Guidance of a Fixed-Wing UAV in Precision Deep Stall Landing. 2015 International Conference on Unmanned Aircraft Systems (ICUAS'15) ; Denver, Colorado. 2015-07-09 - 2015-07-12.
- (2015) New Concepts for Shipboard Sea State Estimation. OCEANS'15 MTS/IEEE Washington, Washington DC, 19-22 October, 2015.
- (2015) Path Following of Underwater Robots using Lagrange Multipliers. Robotics and Autonomous Systems. vol. 67.
- (2015) On Attitude Observers in Inertial Navigation Based Fault Detection and Isolation in Dynamic Positioning. European Control Conference (ECC'15) ; Linz. 2015-07-15 - 2015-07-17.
- (2015) Autonomous net recovery of fixed-wing UAV with single-frequency carrier-phase differential GNSS. IEEE Aerospace and Electronic Systems Magazine. vol. 30 (5).
- (2015) Net Recovery of UAV with Single-Frequency RTK GPS. IEEE Aerospace Conference. Proceedings. vol. 2015-June.
2014
- (2014) Nonlinear Observer for Depth-Aided INS: Experimental Evaluation using an AUV. Mediterranean Conference on Control and Automation (MED).
- (2014) Nonlinear Observer with Time-Varying Gains for Inertial Navigation Aided by Satellite Reference Systems in Dynamic Positioning. Mediterranean Conference on Control and Automation (MED).
- (2014) On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws. Automatica. vol. 50 (11).
- (2014) A Uniformly Semiglobally Exponentially Stable Nonlinear Observer for GNSS- and Camera-Aided Inertial Navigation. Mediterranean Conference on Control and Automation (MED).
- (2014) Globally Exponentially Stable Attitude and Gyro Bias Estimation with Application to GNSS/INS Integration. Automatica. vol. 51.
- (2014) Suspended Load Motion Control using Multicopters. Mediterranean Conference on Control and Automation (MED).
- (2014) Minimization of cross-track and along-track errors for path tracking of marine underactuated vehicles. Proceedings of 2014 European Control Conference (ECC 2014).
- (2014) Integral LOS Path Following for Curved Paths Based on a Monotone Cubic Hermite Spline Parametrization. IEEE Transactions on Control Systems Technology. vol. 22 (6).
- (2014) Trajectory tracking and ocean current estimation for marine underactuated vehicles. Proceedings of the IEEE Conference on Control Applications.
- (2014) H∞ almost output synchronization for heterogeneous networks of introspective agents under external disturbances. Automatica. vol. 50 (4).
- (2014) Observer and IMU-based Detection and Isolation of Faults in Position Reference Systems and Gyrocompasses with Dual Redundancy in Dynamic Positioning. Proceedings of the IEEE Conference on Control Applications.
2013
- (2013) Continuous Curvature Path Planning using Voronoi diagrams and Fermat's spirals. The 9th IFAC Conference on Control Applications in Marine Systems 2013 ; Osaka. 2013-09-17 - 2103-09-20.
- (2013) Heave Motion Estimation on a Craft Using a Strapdown Inertial Measurement Unit. Elsevier IFAC Publications / IFAC Proceedings series.
- (2013) A Globally K-Exponentially Stable Nonlinear Observer for Wave Encounter Frequency. Elsevier IFAC Publications / IFAC Proceedings series.
- (2013) Continuous Curvature Path Planning using Voronoi diagrams and Fermat's spirals. Elsevier IFAC Publications / IFAC Proceedings series.
- (2013) Path Planning and Guidance for Marine Surface Vessels. Norges teknisk-naturvitenskapelige universitet. 2013.
- (2013) Optimal search mission with Unmanned Aerial Vehicles using Mixed Integer Linear Programming. 2013 International Conference on Unmanned Aircraft Systems.
- (2013) Nonlinear Observer for GNSS-Aided Inertial Navigation with Quaternion-Based Attitude Estimation. American Control Conference (ACC), 2013.
- (2013) Control Allocation - A Survey. Automatica. vol. 49 (5).
- (2013) Continuous-Curvature Path Generation using Fermat's Spiral. Modeling, Identification and Control. vol. 34 (4).
- (2013) A Quaternion-Based LOS Guidance Scheme for Path Following of AUVs. The 9th IFAC Conference on Control Applications in Marine Systems 2013 ; Osaka. 2013-09-17 - 2103-09-20.
- (2013) Line-of-Sight Guidance for Path Following of Marine Vehicles. Advanced in Marine Robotics.
- (2013) 2D Path Following for Marine Craft: A Least-Square Approach. Elsevier IFAC Publications / IFAC Proceedings series. vol. 9 (1).
- (2013) Speed-variant Path Following for Underactuated Marine Craft. The 9th IFAC Conference on Control Applications in Marine Systems 2013 ; Osaka. 2013-09-17 - 2103-09-20.
- (2013) Speed-variant Path Following for Underactuated Marine Craft. Elsevier IFAC Publications / IFAC Proceedings series.
- (2013) H-infinity Almost Synchronization for Homogeneous Networks of Non-Introspective SISO Agents Under External Disturbances. Proceedings 52nd IEEE Conference on Decision and Control December 10-13, 2013. Florence, Italy.
- (2013) H-infinity Almost Regulated Synchronization and H-infinity Almost Formation for Heterogeneous Networks under External Disturbances. Proceedings of 2013 European Control Conference (ECC).
2012
- (2012) Nonlinear Observability and Observer Design for Parametric Roll Resonance. Proceedings. Stability of Ships and Ocean Vehicles (STAB) 2012.
- (2012) Optimal Speed and Heading Control for Stabilization of Parametric Oscillations in Ships. Parametric Resonance in Dynamical Systems.
- (2012) Ship Model for Parametric Roll Incorporating the Effects of Time-Varying Speed. Parametric Resonance in Dynamical Systems.
- (2012) Stability of Ships in Parametric Roll Resonance Under Time-Varying Heading and Speed. Proceedings. Stability of Ships and Ocean Vehicles (STAB) 2012.
- (2012) Kybernetikk på IKT-toppen. Universitetsavisa [Internett]. 2012-03-29.
- (2012) Low-Cost Integrated Navigation Systems for Autonomos Underwater Vehicles. XXXIII Jornadas de Automatica ; Vigo. 2012-09-05 - 2012-09-07.
- (2012) Nonlinear Maneuvering Theory and Path-Following Control. Marine Technology and Engineering : CENTEC Anniversary Book.
- (2012) Nonlinear Observer Design for Strapdown Inertial Navigation. 10th European Workshop on Advanced Control and Diagnosis . Technical University of Denmark (DTU); Lyngby. 2012-11-08 - 2012-11-09.
- (2012) Nonlinear Observers for Integration of Position and IMU Measurements. 3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles ; 2012-04-10 - 2012-04-12.
- (2012) Parametric roll resonance: frequency de-tuning and active control. 9th IFAC Conference on Manoeuvring and Control of Marine Craft ; Arenzano. 2012-09-19 - 2012-09-21.
- (2012) Satser på ubemannede fly. Adresseavisen [Avis]. 2012-05-21.
- (2012) Parametric Resonance in Dynamical Systems. Springer. 2012. ISBN 978-1-4614-1042-3.
- (2012) 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 (4).
- (2012) A Nonlinear Observer for Integration of GNSS and IMU Measurements with Gyro Bias Estimation. Proceedings of the 2012 American Control Conference (ACC).
- (2012) Attitude Estimation Using Biased Gyro and Vector Measurements With Time-Varying Reference Vectors. IEEE Transactions on Automatic Control. vol. 57 (5).
- (2012) Frequency Detuning Control by Doppler Shift. Parametric Resonance in Dynamical Systems.
- (2012) A Nonlinear 7-DOF Model for U-Tanks of Arbitrary Shape. Ocean Engineering. vol. 45.
- (2012) A U-Tank Control System for Ships in Parametric Roll Resonance. Parametric Resonance in Dynamical Systems.
- (2012) A Time-Varying Lookahead Distance Guidance Law for Path Following. 9th IFAC Conference on Maneouvring and Control of Marine Craft ; Arenzano. 2012-09-19 - 2012-09-21.
- (2012) Efficient Nonlinear Wind-Turbine Modeling For Control Applications. 7th Vienna International Conference on Mathematical Modelling ( MATHMOD 2012 ).
- (2012) Efficient Nonlinear Wind-Turbine Modeling for Control Applications. MATHMOD 2012, 7th Vienna International Conference on Mathematical Modelling ; Wien, Austria. 2012-02-15 - 2012-02-17.
- (2012) Marine Vessel Path Planning & Guidance Using Potential Flow. MCMC'2012 . IFAC; Arenzano. 2012-09-19 - 2012-09-21.
- (2012) Direct Inclusion of Geometric Errors for Path Maneuvering of Marine Craft. 9th IFAC Conference on Maneouvring and Control of Marine Craft . IFAC; Arenzano. 2012-09-19 - 2012-09-21.
- (2012) Leader-Follower Formation of Marine Craft using Constraint Forces and Lagrange Multipliers. The 51st IEEE Conference on Decision and Control . IEEE; Maui, Hawaii. 2012-12-10 - 2012-12-13.
- (2012) Nonlinear Robust Heading Control for Sailing Yacht. 9th IFAC Conference on Maneouvring and Control of Marine Craft ; 2012-09-19 - 2012-09-21.
2011
- (2011) L1 Adaptive and Extremum Seeking Control Applied to Roll Parametric Resonance in Ships. Proceedings 2011 IEEE International Conference on Control and Automation, Santiago, Chile.
- (2011) Handbook of Marine Craft Hydrodynamics and Motion Control. Wiley-Blackwell. 2011. ISBN 978-1-1199-9149-6.
- (2011) Modeling and Control of Parametric Roll Resonance. Norges teknisk-naturvitenskapelige universitet. 2011. ISBN 978-82-471-2896-1. Doktoravhandlinger ved NTNU (174).
- (2011) A Langrangian Approach to Nonlinear Modeling og Anti-Roll Tanks. Ocean Engineering. vol. 38 (2-3).
- (2011) Motion Control of Marine Craft. The Control Systems Handbook: Control System Advanced Methods (2nd Edition).
- (2011) Practical aspects of frequency-domain identification of dynamic models of marine structures fromhydrodynamic data. Ocean Engineering. vol. 38 (2-3).
- (2011) Motion Control of Marine Craft Using Virtual Positional and Velocity Constraints. Proceedings 2011 IEEE International Conference on Control and Automation, Santiago, Chile.
2010
- (2010) Extremum Seeking Speed and Heading Control Applied to Parametric Roll Resonance. The 8th IFAC CAMS2010, Conference on Control Applications in Marine Systems . IFAC; Warnemünde (Rostock). 2010-09-15 - 2010-09-17.
- (2010) Topics in Guided Motion Control of Marine Vehicles. 2010. Doktoravhandlinger ved NTNU (2010:63).
- (2010) Extremum Seeking Speed and Heading Control Applied to Parametric Roll Resonance. Elsevier IFAC Publications / IFAC Proceedings series.
- (2010) On the Boundedness and Skew-Symmetric Properties of the Inertia and Coriolis Matrices for Vehicle-Manipulator Systems. 7th Symposium on Intelligent Autonomous Vehicles . IFAC; Lecce. 2010-09-06 - 2010-09-08.
- (2010) A nonlinear PDE formulation for offshore vessel pipeline installation. Ocean Engineering. vol. 37 (4).
- (2010) A Tutorial on Incremental Stability Analysis using Contraction Theory. Modeling, Identification and Control. vol. 31 (3).
- (2010) Motion Control of Marine Craft. The Control Handbook, Second Edition: Control System Applications, Second Edition.
2009
- (2009) Guidance Laws for Autonomous Underwater Vehicles. Underwater Vehicles.
- (2009) A Survey of Control Allocation Methods for Underwater Vehicles. Underwater Vehicles.
- (2009) Kalman Filtering for Positioning and Heading Control of Ships and Offshore Rigs. Control Systems Magazine. vol. 29 (6).
- (2009) Stabilization of Parametric Roll Resonance by Combined Speed and Fin Stabilizer Control. Proceedings European Control Conference, Budapest, 2009.
- (2009) Stabilization of parametric roll resonance with active u-tanks via lyapunov control design. European Control Conference 2009 . IFAC og IEEE CSS; Budapest. 2009-08-23 - 2009-08-26.
- (2009) Offshore Pipelay Operations from a Control Perspective. Proceedings of the ASME 28th International Conference on Ocean, Offshore and Arctic Engineering . ASME; Honolulu, Hawaii. 2009-05-31 - 2009-06-05.
- (2009) A Robotic Approach to Nonlinear Dynamic Modeling of Offshore Pipelaying Operations. IFAC MCMC 2009 . IFAC; Guaruja. 2009-09-16 - 2009-09-18.
- (2009) Mathematical Models for Model-Based Control in Offshore Pipelay Operations. Proceedings of the ASME 28th International Conference on Ocean, Offshore and Arctic Engineering - OMAE2009.
- (2009) Modeling and Control of Offshore Pipelay Operations Based on a Finite Strain Pipe Model. ACC 2009 . AACC; St. Louis. 2009-06-10 - 2009-06-12.
- (2009) A Matlab Toolbox for Parametric Identification of Radiation-Force Models of Ships and Offshore Structures. Modeling, Identification and Control. vol. 30 (1).
- (2009) Modeling and Control of Underway Replenishment Operations in Calm Water. Proceedings of the 8th IFAC MCMC . IFAC; Guaruja. 2009-09-16 - 2009-09-18.
2008
- (2008) Genetic programming for the automatic design of controllers for a surface ship. IEEE transactions on intelligent transportation systems (Print). vol. 9.
- (2008) Underwater Robotics. Chapter 43.2 in: "Handbook on Robotics". Springer. 2008. ISBN 978-3-540-23957-4.
- (2008) Guidance Laws for Planar Motion Control. Proceedings of the 47 IEEE CDC . Institute of Electrical and Electronics Engineers; Cancun. 2008-12-09 - 2008-12-11.
- (2008) Ship Formation Control: A Guided Leader-Follower Approach. Proceedings of the 17th IFAC World Congress . International Federation of Automatic Control; Seoul. 2008-07-06 - 2008-07-11.
- (2008) Straight-Line Target Tracking for Unmanned Surface Vehicles. Modeling, Identification and Control. vol. 29 (4).
- (2008) Nonlinear vehicle side-slip estimation with friction adaptation. Automatica. vol. 44.
- (2008) Nonlinear Observer for Vehicle Velocity with Friction and Road Bank Angle Adaptation - Validation and Comparison with an Extended Kalman Filter. SAE 2007 Transactions Journal of Passenger Cars: Mechanical Systems.
- (2008) Optimal constrained control allocation in marine surface vessels with rudders. Control Engineering Practice. vol. 16 (4).
- (2008) A Derivation of High-frequency Asymptotic Values of 3D Added Mass and Damping Based on Properties of The Cummins' Equation. Journal of Maritime Research. vol. 5 (1).
- (2008) Joint Identification of Infinite-Frequency Added Mass and Fluid-memory Models of Marine Structures. Modeling, Identification and Control. vol. 29 (3).
- (2008) Time- vs. Frequency-domain Identification of Parametric Radiation Force Models for Marine Structures at Zero Speed. Modeling, Identification and Control. vol. 29 (1).
2007
- (2007) Nonlinear Container Ship Model for the Study of Parametric Roll Resonance. Modeling, Identification and Control. vol. 28 (4).
- (2007) Nonlinear observer for lateral velocity with friction and road bank adaptation. SAE World Congress ; Detroit. 2007-04-16.
- (2007) Path Following Control System for a Tanker Ship Model. Ocean Engineering. vol. 34.
- (2007) Applying Missile Guidance Concepts to Motion Control of Marine Craft. 7th IFAC Conference on Control Applications in Marine Systems ; 2007-09-18 - 2007-09-21.
- (2007) Hvor fort går det?. Automatisering & Industridata. vol. 16 (2).
- (2007) Frequency-Motivated Observer Design for the Prediction of Parametric Roll Resonance. Conference on Control Applications in Marine Systems 2007 . IFAC; Bol. 2007-09-18 - 2007-09-21.
- (2007) Passivity-based designs for synchronized path-following. Automatica. vol. 43 (9).
- (2007) On nonlinear unknown input observers - applied to lateral vehicle velocity estimation on banked roads. International Journal of Control. vol. 80 (11).
- (2007) Experiences from Hardware-in-the-loop (HIL) Testing of dynamic Positioning and Power Management systems. OSV Singapore . Joint Branch of RINA-IMarEST Singapore and CORE; 2007-09-24 - 2007-09-25.
- (2007) Validation of a 4DOF Manoeuvring Model of a High-speed Vehicle-Passenger Trimaran. Ninth International Conference on Fast Sea Transportation FAST2007 ; Changhai. 2007-09-23 - 2007-09-27.
- (2007) Kinematic Models for Manoeuvring and Seakeeping of Marine Vessels. Modeling, Identification and Control. vol. 28 (1).
- (2007) Nonlinear Thrust Controller for Marine Propellers in Four-Quadrant Operations. American Control Conference 2007 ; New York. 2007-07-11 - 2007-07-13.
- (2007) Preliminary Simulation Studies of a New Four-Quadrant Propeller Thrust Controller Applied to Underwater Vehicles. Elsevier IFAC Publications / IFAC Proceedings series.
- (2007) Validation of a Container Ship Model for Parametric Rolling. The 9th International Ship Stability Conference . Germanischer Lloyd; Hamburg. 2007-08-30 - 2007-08-31.
- (2007) A Novel Maneuvering Model Based on Low-Aspect Ratio Lift Theory and Lagrangian Mechanics. IFAC Conference on Control Applications in Marine Systems ; 2007-09-19 - 2007-09-21.
2006
- (2006) Control-oriented Modeling of a Two-body Interconnected Marine Structure. 7th IFAC conference on Manoeuvring and Control of Mareine Craft . MCMC 2006; Lisboa. 2006-09-20 - 2006-09-22.
- (2006) Formation Control of Underactuated Surface Vessels using the Null-Space-Based Behavioral Control. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Beijing. 2006-10-09 - 2006-10-15.
- (2006) A Unified Control Concept for Autonomous Underwater Vehicles. 2006 American Control Conference ; 2006-06-14 - 2006-06-16.
- (2006) Hybrid Topics for Marine Motion Control Systems. 9th International Workshop on Hybrid Systems: Computation and Control ; 2006-03-29 - 2006-03-31.
- (2006) Motion Control Concepts for Trajectory Tracking of Fully Actuated Ships. 7th IFAC Conference on Manoeuvring and Control of Marine Craft ; 2006-09-20 - 2006-09-22.
- (2006) Guided Dynamic Positioning for Fully Actuated Marine Surface Vessels. 7th IFAC Conference on Manoeuvring and Control of Marine Craft ; 2006-09-20 - 2006-09-22.
- (2006) Guided Formation Control for Fully Actuated Marine Surface Craft. 7th IFAC Conference on Manoeuvring and Control of Marine Craft ; 2006-09-20 - 2006-09-22.
- (2006) Guided Formation Control for Wheeled Mobile Robots. Proceedings of the International Conference on Control, Automation, Robotics and Vision 2006.
- (2006) Kinematic aspects of guided formation control in 2D. Lecture notes in control and information sciences. vol. 336.
- (2006) A Survey of Control Allocation Methods for Ships and Underwater Vehicles. 14th IEEE Mediterriaen Conference on Control and Automation ; Ancona. 2006-06-28 - 2006-06-30.
- (2006) Nonlinear Modelling, Identification, and Control of UUVs. Guidance and Control of Unmanned Marine Vehicles.
- (2006) Identification of Nonlinear Viscous Damping for Marine Vessels. 14th IFAC Symposium on Systems Identification . IFAC; New Castel. 2006-03-29 - 2006-03-31.
- (2006) Nonlinear Vehicle Velocity Observer with Road-Tire Friction Adaptation. 45th IEEE Conference on Decision and Control . IEEE; San Diego, California. 2006-12-13 - 2006-12-15.
- (2006) Passivity-Based Designs for Synchronized Path Following. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes.
- (2006) Synchronized Path Following: Continuous-time and sampled-data design. 1st Workshop on Hybrid Marine Control Systems . CeSOS, NTNU; Oppdal. 2006-02-16 - 2006-02-17.
- (2006) Formation Control of Marine Surface Craft: A Lagrangian Approach. IEEE Journal of Oceanic Engineering. vol. 31 (3).
- (2006) Robust Combined Position and Formation Control for Marine Surface Craft. 17th International Symposium on Mathematical Theory of Networks and Systems ; kYOTO. 2006-07-24 - 2006-07-28.
- (2006) Robust formation control of marine craft using Lagrange multipliers. Lecture notes in control and information sciences. vol. 336.
- (2006) Vehicle velocity estimation using nonlinear observers. Automatica. vol. 42.
- (2006) Nonlinear Observer for Vehicle Lateral Velocity. HYCON & CEmACS Workshop on Automotive Systems and Control ; 2006-06-01 - 2006-06-02.
- (2006) Control-Oriented Modeling of a 2-Body Interconnected Marine Structure. 7th IFAC Conference on Manoeuvring and Control of Marine Craft . IFAC; Lisboa. 2006-09-20 - 2006-09-22.
- (2006) Time-domain models of marine surface vessels based on seakeeping computations. 7th IFAC Conference on Manoeuvring and Control of Marine Craft . IFAC; Lisboa. 2006-09-10 - 2006-09-22.
- (2006) Time-domain models of marine surface vessels for simulation and control design based on seakeeping computations. 7th IFAC Confererence on Manoeuvring and Control of Marine Craft MCMC'06 . IFAC; Lisbon. 2006-09-20 - 2006-09-22.
- (2006) A 4 DOF Simulink Model of a Coastal Patrol Vessel for Maneuvering in Waves. 7th IFAC Conference on Manoeuvring and Control of Marine Craft . IFAC; Lisboa. 2006-09-20.
- (2006) NONLINEAR MODEL IDENTIFICATION OF A MARINE PROPELLER OVER FOUR-QUADRANT OPERATIONS. 14th IFAC Symposium on System Identification . IFAC; 2006-03-29 - 2006-03-31.
- (2006) EXPERIMENTAL VALIDATION OF A MARINE PROPELLER THRUST ESTIMATION SCHEME. 7th IFAC Conference on Maneuvring and Control of Marine Craft ; 2006-09-20 - 2006-09-22.
- (2006) Marine Propeller Thrust Estimation in Four-Quadrant Operations. 45th IEEE Conference on Decision and Control ; 2006-12-13 - 2006-12-15.
- (2006) Clarification of the Low-Frequency Modelling Concept for Marine Craft. 7th IFAC Conference on Manoeuvring and Control of Marine Craft . IFAC; Lisboa. 2006-09-20 - 2006-09-22.
- (2006) Low Order Potential Damping Models for Surface Vessels. 7th IFAC Conference on Manoeuvring and Control of Marine Craft . IFAC; Lisboa. 2006-09-20 - 2006-09-22.
2005
- (2005) A Unified Concept for Controlling a Marine Surface Vessel Through the Entire Speed Envelope. Proceedings of the 2005 IEEE International Symposium on Intelligent Control and 2005 Mediterranean Conference on Control and Automation.
- (2005) Guidance-Based Path Following for Autonomous Underwater Vehicles. OCEANS'05 . MTS, IEEE OES; Washington D.C.. 2005-09-18 - 2005-09-23.
- (2005) Guidance-Based Path Following for Wheeled Mobile Robots. 16th IFAC World Congress . IFAC; Prague. 2005-07-03 - 2005-07-08.
- (2005) Principles of Guidance-Based Path Following in 2D and 3D. 43rd IEEE CDC . IEEE CSS; Sevilla. 2005-12-12 - 2005-12-15.
- (2005) A Nonlinear Unified State-Space Model for Ship Maneuvering and Control in a Seaway. International Journal of Bifurcation and Chaos in Applied Sciences and Engineering. vol. 15 (9).
- (2005) Formation Conntrol of Marine Craft using Constraint Functions. OCEANS 2005 . IEEE/MTS; Washington DC. 2005-09-19 - 2005-09-23.
- (2005) Output Feedback Control for Maneuvering Systems Using Observer Backstepping. ISIC-MED 2005 . IEEE; Limassol. 2005-06-27 - 2005-06-29.
- (2005) Output Feedback Control for Maneuvering Systems Using Observer Backstepping. Proceedings of the 2005 IEEE International Symposium on Intelligent Control and 2005 Mediterranean Conference on Control and Automation.
- (2005) Vehicle Velocity Estimation using Nonlinear Observers. CDC-ECC-2005 . IEEE; Seville. 2005-12-12 - 2005-12-15.
- (2005) An Extended Set-Valued Observer for Position Estimation using Single Range Measurements. International Symposium on Unmanned Untethered Submersible Technology (UUST) ; Durham, New Hampshire. 2005-08-21 - 2005-08-24.
- (2005) Modeling, Guidance and Control of "Esso Osaka" Model. IFAC World Congress . IFAC; Praha. 2005-07-01 - 2005-07-05.
- (2005) Kinematics of Ship Motion. Ship motion control: course keeping and roll stabilisation using rudder and fins.
- (2005) Ship Kinetics. Ship motion control: course keeping and roll stabilisation using rudder and fins.
- (2005) An Overview of Marine Systems Simulator (MSS): A Simulink Toolbox for Marine ControlSystems. SIMS 2005 46th Conference on Simulation and Modeling.
- (2005) Identification of Frequency-dependent Viscous Damping. OCEANS 2005 . IEEE/MTS; Washington DC. 2005-09-19 - 2005-09-23.
- (2005) Motion Planning and Its Feedback Stabilization for Underactuated Ships: Virtual Constraints Approach. 16th IFAC World Congress ; Prague. 2005-07-03 - 2005-07-08.
- (2005) Proceedings of the IFAC Conference on Control Applications in Marine Systems 2004 (CAMS 2004) (Katebi, Longhi). Oxford: Elsevier 2005. ISBN 0080441696. 520 s. (Vitenskapelig antologi. Proceedings of the IFAC Conference on Control Applications in Marine Systems 2004 (CAMS 2004).
- (2005) The Marine Systems Simulator State-Space Model Representation for Dynamically Positioned Surface Vessels. 12th International Congress of the Maritime Association of the Mediterranean (IMAM 2005) ; Lisboa. 2005-09-26 - 2005-09-30.
- (2005) Design of a Hybrid Power/Torque Thruster Controller with Loss Estimation. Proceedings of the IFAC Conference on Control Applications in Marine Systems 2004 (CAMS 2004).
- (2005) Genetic algorithms optimisation of decoupled Sliding Mode controllers: simulated and real results. Control Engineering Practice. vol. 13.
- (2005) Output Feedback Control for Maneuvering Systems Using Observer Backstepping. Proceedings (IEEE International Symposium on Intelligent Control: Print).
- (2005) Efficient optimal constrained control allocation via multiparametric programming. Journal of Guidance Control and Dynamics. vol. 28.
- (2005) Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory. Automatica. vol. 41.
2004
- (2004) Path Following for Marine Surface Vessels. OTO'04 . IEEE/OES, MTS, CJO; Kobe. 2004-11-09 - 2004-11-12.
- (2004) Path Following of Straight Lines and Circles for Marine Surface Vessels. 6th IFAC CAMS . IFAC; Ancona. 2004-07-07 - 2004-07-09.
- (2004) Nonlinear Formation Control of Marine Craft with Experimental Results. 43rd IEEE Conference on Decision and Control . IEEE; Paradise Island. 2004-12-14 - 2004-12-17.
- (2004) Identification of Underwater Vehicle Hydrodynamic Coefficients Using Free Decay Tests. CAMS '04 . IFAC; Ancona. 2004-07-07 - 2004-07-09.
- (2004) On Integral Control in Backstepping: Analysis of Different Techniques. 2004 Americal Control Conference . American Automatic Control Council; Boston. 2004-06-30 - 2004-07-02.
- (2004) Modeling, Identification, and Adaptive Maneuvering of Cybership II: A Complete Design with Experiments. IFAC Conference on Control Applications in Marine Systems (CAMS 2004) . IFAC; Ancona. 2004-07-07 - 2004-07-09.
- (2004) Design of a Hybrid Power/Torque Thruster Controller with Loss Estimation. IFAC Conference on Control Applications in Marine Systems (CAMS04) . IFAC; Ancona. 2004-07-07 - 2004-07-09.
- (2004) Nonlinear Time-Domain Strip Theory Formulation for Low-Speed Maneuvering and Station-Keeping. Modeling, Identification and Control. vol. 25 (4).
- (2004) Constrained nonlinear control allocation with singularity avoidance using sequential quadratic programming. IEEE Transactions on Control Systems Technology. vol. 12.
- (2004) Wave synchronizing crane control during water entry in offshore moonpool operations - Experimental results (Reprinted with permission from J. Oceanic Engineering, vol 29, pg 720-728). Modeling, Identification and Control. vol. 25.
- (2004) On Integral Control in Backstepping: Analysis of Different Techniques. American Control Conference (ACC). vol. 2.
- (2004) Robust output maneuvering for a class of nonlinear systems. Automatica. vol. 40.
- (2004) A Nonlinear Ship Manoeuvering Model: Identification and adaptive control with experiments for a model ship. Modeling, Identification and Control. vol. 25.
- (2004) Modeling, Identification, and Adaptive Maneuvering of Cybership II: A Complete Design with Experiments. Elsevier IFAC Publications / IFAC Proceedings series.
2003
- (2003) Line-of-Sight Path Following of Underactuated Marine Craft. 6th IFAC MCMC . IFAC; Girona. 2003-09-17 - 2003-09-19.
- (2003) Wave synchronizing crane control during water entry in offshore moonpool operations - experimental results. IEEE Journal of Oceanic Engineering. vol. 29.
- (2003) Optimal constrained control allocation in marine surface vessels with rudders. IFAC Conference on Manoeuvring and Control of Marine Craft . [Mangler data]; Girona, Spain. 2003-09-19.
- (2003) Fuel-efficient rudder and propeller control allocation for marine craft: Experiments with a model ship. IEEE Transactions on Control Systems Technology. vol. 11 (6).
- (2003) Formation control by synchronizing multiple maneuvering systems. The 6th IFAC Conference on Manoeuvring and Control of Marine Crafts (MCMC2003) . [Mangler data]; Girona, Spania. 2003-09-19.
- (2003) Wave synchronizing crane control during water entry in offshore moonpool operations - Experimental results. IEEE Journal of Oceanic Engineering. vol. 28.
- (2003) Fuel-efficient rudder and propeller control allocation for marine craft: Experiments with a model ship. IEEE Transactions on Control Systems Technology. vol. 11.
2002
- (2002) Stabilization of fluid flows in channels and pipes. Tutorial on feedback control of flows, part I. Modeling, Identification and Control. vol. 23 (3).
- (2002) Tutorial on feedback control of flows, Part II: Diagnostics and feedback control of mixing. Modeling, Identification and Control. vol. 23 (4).
- (2002) Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles. 2002. ISBN 82-92356-00-2.
- (2002) Inertia Shaping Techniques for Marine Vessels using Acceleration Feedback. IFAC World Congress . [Mangler data]; Barcelona, Spania. 2002-07-21.
- (2002) Tightly Integrated GPS/INS Systems for Dynamic Positioning (DP), Phase II. GPS/IMU Position Drift with Less Than Three Satellites. 2002.
- (2002) A Decade Of Rapid Software Development For Control-system Experiments. Lessons Learned. IFAC 15th World Congress, Barcelona 2002 . [Mangler data]; Barcelona, Spain. 2002-07-26.
- (2002) Experimental Results with a Simplified Model Based Wave Filter with Inertial Sensor Feedback for Surface Vessels. The 10th Mediterranean Conference on Control & Automation . [Mangler data]; Lisbon, Portugal. 2002-07-12.
- (2002) Wave synchronizing crane control during water entry in offshore moonpool operations. IEEE International Conference on Control Applications . [Mangler data]; Glasgow, Scotland. 2002-09-20.
- (2002) Nonlinear Formation Control of Marine Craft. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes.
- (2002) Output Maneuvering for a Class of Nonlinear Systems. Elsevier IFAC Publications / IFAC Proceedings series. vol. 15 (1).
2001
- (2001) Global Output Tracking Control of a Class of Euler-Lagrange Systems With Monotonic Nonlinearities in the Velocities. International Journal of Control. vol. 74 (7).
- (2001) Finite Element Modelling of Moored Vessels. Mathematical and Computer Modelling of Dynamical Systems. vol. 7 (1).
- (2001) A Theorem for UGAS and ULES of (Passive) Nonautonomous Systems: Robust Control of Mechanical Systems and Ships. International Journal of Robust and Nonlinear Control. vol. 11.
- (2001) Nonlinear Passive Weather Optimal Positioning Control (WOPC) System for Ships and Rigs: Experimental Results. Automatica. vol. 37 (5).
- (2001) A Model Based Wave Filter for Surface Vessels Using Position, Velocity and Partial Acceleration Feedback. The 40th IEEE Conference on Decision and Control . [Mangler data]; Orlando, Florida. 2001-12-07.
- (2001) On Global Model Based Observer Designs for Surface Vessels. The 5th IFAC Conference on Control Applications in Marine Systems, CAMS2001 . [Mangler data]; Glasgow, UK. 2001-07-20.
- (2001) Tightly Integrated GPS/INS Systems for Dynamic Positioning (DP), Phase I. GPS/IMU Attitude Integration. 2001.
- (2001) Inertance Control of Underwater Installations. The 5th IFAC Conference on Control Applications in Marine Systems (CAMS 2001) . [Mangler data]; Glasgow, UK. 2001-07-20.
- (2001) Nonlinear Observer Design for Integration of GPS and Inertial Navigation Systems. 40th IEEE Conference on Decision and Control . [Mangler data]; Orlando, Florida, USA. 2001-12-07.
- (2001) Tightly Integrated GPS/INS Systems for Dynamic Positioning (DP), Phase 1. Tightly Integrated GPS/IMU Real Time Algorithm. 2001.
- (2001) Nonlinear Maneuvering and Control of Ships. OCEANS. vol. 3.
2000
- (2000) Global output tracking control of a class of Euler-Lagrange systems. 39th IEEE Conference on Decision and Control . [Mangler data]; Sydney, Australia, December 12-15, 2000.
- (2000) Finite element modelling of mooring lines. Mathematics and Computers in Simulation. vol. 53.
- (2000) Finite element modelling of mooring lines. 3rd IMACS Symposium on Mathematical Modelling . [Mangler data]; Wien, 2-4 februar, 2000.
- (2000) Dynamic Model for Thrust Generation of Marine Propellers. 5th IFAC Conference on Manoeuvring and Control of Marine Craft . [Mangler data]; 23-25 August 2000, Aalborg, Denmark.
- (2000) Mathematical Models for the Analysis of Offshore Crane Operations. 2000.
- (2000) A Survey on Nonlinear Ship Control: From Theory to Practice. 5th IFAC Conference on Manoeuvring and Control of Marine Craft . [Mangler data]; 23-25 August, 2000, Aalborg, Denmark.
- (2000) Developments in Ship Control Systems Design. World Superyacht Review.
- (2000) Nonlinear Passive Control and Observer Design for Ships. Modeling, Identification and Control.
- (2000) Preface : Special Section on Marine Systems. International Journal of Adaptive Control and Signal Processing. vol. 14 (4).
- (2000) Nonlinear Output Feedback Control of Underwater Vehicle Propellers using Feedback from Estimated Axial Flow Velocity. IEEE Journal of Oceanic Engineering. vol. 25 (2).
- (2000) Position and Velocity Observer Design. The Ocean Engineering Handbook.
- (2000) Weather Optimal Positioning Control. The Ocean Engineering Handbook.
- (2000) Optimal Ship Maneuvering using Bryson and Ho's Time-Varying LQ Controller. 5th IFAC Conference on Manoeuvring and Control of Marine Craft . [Mangler data]; 23-25 August, 2000, Aalborg, Denmark.
- (2000) A Separation Principle for Dynamic Positioning of Ships: Theoretical and Experimental Results. IEEE Transactions on Control Systems Technology. vol. 8 (2).
- (2000) Experimental Results from Supply Ship Autopilot Optimisation using Genetic Algorithms. Transactions of the Institute of Measurement and Control. vol. 22 (2).
- (2000) Ship Steering Control System Optimisation Using Genetic Algorithms. Control Engineering Practice. vol. 8.
- (2000) Onboard Sensor-Based Adaptive Control of Small UUVs in Very Shallow Water. International Journal of Adaptive Control and Signal Processing. vol. 14 (4).
- (2000) Underactuated Dynamic Positioning of a Ship - Experimental Results. IEEE Transactions on Control Systems Technology. vol. 8 (5).
- (2000) Design of Controllers for Positioning of Marine Vessels. The Ocean Engineering Handbook.
- (2000) Design of Controllers for Positioning of Marine Vessels. The Ocean Engineering Handbook.
- (2000) A Nonlinear Observer for Integration of GPS and Inertial Navigation Systems. Modeling, Identification and Control.
1999
- (1999) Controlling line tension in thruster assisted mooring systems. 1999 IEEE International Conference on Control Applications (CCA) . [Mangler data]; Hapuna-Beach Prince Hotel, HI, USA August 22-27, 1999.
- (1999) Nonlinear control of ships minimizing the position tracking errors. Modeling, Identification and Control. vol. 20 (3).
- (1999) A tutorial on nonlinear backstepping: applications to ship control. Modeling, Identification and Control. vol. 20 (2).
- (1999) Passive nonlinear observer design for ships using Lyapunov methods: experimental results with a supply vessel. Automatica. vol. 35 (1).
- (1999) Nonlinear control of marine power generation. Power Systems Computation Conference . [Mangler data]; Trondheim, 28. juni - 2. juli.
- (1999) Development of a Low Cost DGPS/DR System for Vehicle racking. International Workshop on Mobile Mapping Technology . [Mangler data]; Thailand, April 21-23.
- (1999) UGAS and ULES of non-autonomous systems: applications to integral control of ships and manipulators. European Control Conference . [Mangler data]; Karlsruhe, 31.8.-03.09.
- (1999) New Directions in Nonlinear Observer Design. 1999.
- (1999) Thruster assisted position mooring of turret-anchored FPSOs. International Conference on Control Applications . [Mangler data]; Hawaii, USA, August 22-27, 1999.
- (1999) A nonlinear observer for integration of GPS and INS attitude. ION GPS-99 . [Mangler data]; Nashville, TN, USA, September 14-17, 1999.
- (1999) Nonlinear analysis of GPS aided by INS. ION 55th Annual Meeting: Navigational Technology for the 21st Century . [Mangler data]; Cambridge, MA, USA, June 28-30, 1999.
- (1999) Nonlinear observer design for integration of DGPS and INS. New directions in nonlinear observer design.
1998
- (1998) Nonlinear Vectorial Observer Backstepping With Integral Action and Wave Filtering for Ships. IFAC Conference on Control Applications in Marine Systems (CAMS'98) . [Mangler data]; [Mangler data].
- (1998) Nonlinear way-point tracking control and docking of ships final report ; NFR-Project no. 112681/230. 1998. ITK-rapport: 98-23-W.
- (1998) Nonlinear Control of Ships Minimizing the Position Tracking Errors. IFAC Conference on Control Application in Marine Systems (CAMS '98) . [Mangler data]; [Mangler data].
- (1998) Matematiske modeller for styring av fly og satelitter. Kompendium. 1998. ITK-rapport: 98-4-W.
- (1998) Nonlinear control of underactuated ships with forward speed compensation. IFAC Nonlinear Control Systems Design Symposium (NOLCOS'99) . [Mangler data]; Enschede, The Netherlands.
- (1998) Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping. IEEE Transactions on Control Systems Technology. vol. 6 (1).
- (1998) Nonlinear Ship Control. Tutorial Session, 14.30 - 17.00, Tuesday 27 October 1998 IFAC Conference on Control Applications in Marine Systems (CAMS'9 Fukuoka, Japan, 27-30 October 1998. 1998. ITK-rapport: 98-19-W (IFAC Conference on Control Applications in Marine Systems).
- (1998) Nonlinear and adaptive backstepping designs for tracking control of ships. International Journal of Adaptive Control and Signal Processing.
- (1998) Modelling, simulation and multivariable model-based predictive control of marine power generation system. IFAC Conferense on Control Applications in Marine Systems . [Mangler data]; [Mangler data].
- (1998) Robust Adaptive Ship Autopilot with Wave Filter and Integral Action. International Journal of Adaptive Control and Signal Processing.
- (1998) Rudder Roll Stabilization of Ships Subject to Input Rate Saturations Using a Gain Scheduled Control Law. IFAC Conference on Control Applications in Marine Systems (CAMS'98) . [Mangler data]; Fukuoka, Japan.
- (1998) Robust adaptive control of passive systems with unknown disturbances. IFAC Nonlinear Control Systems Design symposium . [Mangler data]; Enschede, The Netherlands.
- (1998) On-board sensor-based adaptive control of small UUVs in very shallow water. IFAC Conference on Control Applications in Marine Systems (CAMS'98) . [Mangler data]; Fukuoka, Japan.
- (1998) A passive output feedback controller with wave filter for marine vehicles. International Journal of Robust and Nonlinear Control.
- (1998) Underactuated Ship Stabilization using Integral Control: Experimental Results with CyberShip I. 1998 IFAC Symposium on Nonlinear Control Systems Design . [Mangler data]; [Mangler data].
- (1998) Nonlinear Control of Ships: A Locally Optimal Design. 4th IFAC Symposium on Nonlinear Control Systems Design (NOLCOS'98) . [Mangler data]; [Mangler data].
- (1998) Nonlinear Output Feedback and Locally Optimal Control of Dynamically Positioned Ships: Experimental Results. IFAC Conference on Control Applications in Marine Systems (CAMS'98) . [Mangler data]; [Mangler data].
- (1998) Design of Automatic Thruster Assisted Position Mooring Systems for Ships. Modeling, Identification and Control. vol. 1.
- (1998) Direct Nonlinear Observer Design for Integration of DGPS and Strapdown Motion Sensors. Conference on Control Applications in Marine Systems (CAMS'98) . [Mangler data]; Fukuoka, Japan.
1997
- (1997) Robust control allocation of overactuated ships : experiments with a model ship. 4th IFAC Conference on Manoeuvring and Control of Marine Craft . [Mangler data]; Brijuni.
- (1997) Nonlinear vectorial backstepping design for global exponential tracking of marine vessels in the presence of actuator dynamics. IEEE Conference on Decision and Control . [Mangler data]; San Diego, CA.
- (1997) Nonlinear rudder-roll damping of non-minimum phase ships using sliding mode control. European Control Conference . [Mangler data]; Brussel.
- (1997) Semi-global results on stabilization of linear systems with input rate and magnitude saturations. AIAA Conference on Guidance, Navigation and Control . [Mangler data]; New Orleans.
- (1997) Stabilization of linear unstable systems with control constraints. IEEE Conference on Decision and Control . [Mangler data]; San Diego, CA.
- (1997) Stabilization of integrator chains in the presence of magnitude and rate saturations : a gain scheduling approach. IEEE Conference on Decision and Control . [Mangler data]; San Diego, CA.
- (1997) Parameter optimisation of a non-linear tanker control system using genetic algorithms. 2nd IEE/IEEE International Conference on Genetic Algorithms . [Mangler data]; Glasgow.
1996
- (1996) Preface to the special section on control applications in marine systems. Control Engineering Practice. vol. 4 (3).
- (1996) Identification of dynamically positioned ships. Control Engineering Practice. vol. 4 (3).
- (1996) Nonlinear control of dynamic positioned ships using only position feedback : an observer bckstepping approach. 35th IEEE Conference on Decision and Control . [Mangler data]; [Mangler data].
- (1996) Nonlinear non-minimum phase rudder-roll damping system for ships using sliding mode control. 13th IFAC World Congress . [Mangler data]; [Mangler data].
- (1996) Design of a dynamic positioning system using model-based control. Control Engineering Practice. vol. 4 (3).
1995
- (1995) Identification of dynamically positioned ships. 3rd IFAC Workshop on Control Applications in Marine Systems . [Mangler data]; [Mangler data].
- (1995) Design of a dynamic positioning system using model-based control. 3rd IFAC Workshop on Control Applications in Marine Systems . [Mangler data]; [Mangler data].
1994
- (1994) Banestyring og værruting av skip. Seminar på informasjonsteknologi i maritim virksomhet . [Mangler data]; [Mangler data].
- (1994) Guidance and control of ocean vehicles. 1994. ISBN 0-471-94113-1.
- (1994) Matlab simulation program for marine and flight vehicles. 1994. Technical report (94-43-W).
- (1994) Modelling and Control of Underwater Vehicle-Manipulator Systems. IFAC 3rd Int. Conf. on Marine Craft Maneuvering and Control (MCMC94) . IFAC; Southampton. 1994-09-07 - 1994-09-09.
1993
- (1993) High performance ship autopilot with wave filter. Ship Control System Symposium (10 : 1993 : Ottawa) . Canadian Department of National Defence; [Mangler data].
Links
Competencies
- Technical cybernetics
- Simulation
- Hydrodynamics
- Parameter and state estimation
- Control technology
- AUV
- Cybernetics
- Robotics
- Intelligent systems
- Nonlinear control
- Theory of estimation
- Inertial Navigation Systems
- Dynamic Positioning
- Path Planning
- Unmanned Aerial Vehicle
- Marine cybernetics
- Aerodynamic
- ROV
- Autopilot
- Vehicle control
- Navigation
- Guidance systems
- Drones
- Underwater robotics
- Autonomous systems