Thor I. Fossen
Bakgrunn og aktiviteter
Jeg er professor i navigasjon og fartøstyring ved Institutt for teknisk kybernetikk, NTNU. Jeg har studert marin teknikk, aero- og astronautikk, datateknikk og kybernetikk.
Mine forskningsområder er:
- Systemer for gaiding, navigasjon og bevegelsestyring (GNC): autonome og intelligente systemer, feltroboter, fartøydynamikk inkludert multilegemeer, hydrodynamikk, aerodynamikk, fartøysimulatorer, ubemannede fartøy (UAV, AUV, USV), autopiloter, følgeregulering og banestyring.
- Treghetsnavigasjonssystemer: GNSS- og kompassblokkert navigasjon, kamera- og lidarsstøttede systemer, attitydeestimering, automatisk situasjonsforståelse, sensorfusjon og tilstandsestimering, ulineære estimatorer, Kalman-filtrering.
- Cybersikkerhet: sanntids kryptering av pådrag og sensorsdata i tilbakekoblete systemer med store datamengder, kryptologi, strøm chiffer algoritmer, AES, synkronisering, autentiseringsmetoder.
Som forsker har jeg skrevet ca. 500 konferanse- og tidsskriftartikler og 6 internasjonale fagbøker, se min Amazon forfatterside.
Jeg er en av gründerne av selskapet Marine Cyberentics AS (2002) som i dag er en del av de maritime tjenestene i DNV GL. Jeg er også en av gründerne av selskapet SCOUT Drone Inspection AS (2017) og jeg er involvert i flere andre høyteknologiselskaper i Trondheimsregionen.
Undervisning:
- TTK 4190 Fartøystyring (Mastergradsfag)
- TK 8109 VG gaidings- og navigasjonssystemer (PhD-fag)
Priser/Utnevnelser:
- IEEE Fellow, 2016
- Norges Tekniske Vitenskapsakademi (NTVA), 1998
- Arch T. Colwell Merit Award i 2008 ved SAE World Congress for Nonlinear Observer for Vehicle Velocity Estimation skrevet sammen med 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 skrevet sammen med J. P. 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" sammen med T. H. Bryne and T. A. Johansen.
- ExxonMobil-prisen til PhD-studenter i 2000, 2003 og 2005 for beste PhD-avhandling ved NTNU
Posisjoner:
- 2013-nåværende. Nestleder/nøkkelforsker, NTNU Centre for Autonomous Marine Operations and Systems
- 2017-2019. Vice President, SCOUT Drone Inspection AS.
- 2017-2019 Associate Editior, IFAC Control Engineering Practise.
- 2017-2019 Associate Editor, SNAME Journal of Ship Research
- 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)
- 2016 Vice-chair, IFAC CAMS’16, Norway
- 2013 Otto Mønsted gjesteprofessor, Department of Electrical Engineering, Technical University of Denmark
- 2008-2012 Leder for faggruppen Automatic Control, NTNU Centre for Ships and Ocean Structures
- 2002-2012 Nøkkelforsker, NTNU Centre for Ships and Ocean Structures
- 2002-2008 Vice President R&D and Founder of Marine Cybernetics AS
- 2004-2007 Seniorrådgiver, SINTEF Electronics and Cybernetics, Trondheim
- 2002-2010 Nestleder, NTNU Department of Engineering Cybernetics
- 2002-2003 Seniorrådgiver, Kongsberg Maritime AS
- 2002-2006 Associate Editor of Automatica
- 2002 Gjesteprofessor, Department of Applied Mechanichs and Engineering Sciences, UCSD, San Diego, USA
- 1999 Gjesteprofessor, 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 Seniorrådgiver, 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 Seniorrådgiver, ABB, Oslo
- 1991-1998 Seniorrådgiver, SINTEF Automatic Control, Trondheim
Vitenskapelig, faglig og kunstnerisk arbeid
Viser et utvalg av aktivitet. Se alle publikasjoner i databasen
2020
- (2020) Cooperative Control for Multirotors Transporting an Unknown Suspended Load under Environmental Disturbances. IEEE Transactions on Control Systems Technology. vol. 28 (2).
- (2020) A Hybrid Approach to Motion Prediction for Ship Docking— Integration of a Neural Network Model into the Ship Dynamic Model. IEEE Transactions on Instrumentation and Measurement.
2019
- (2019) A Machine Learning Approach for Estimating Air Data Parameters of Small Fixed-Wing UAVs Using Distributed Pressure Sensors. 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) 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 (JFR). 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].
Lenker
Kompetanseord
- Datateknologi
- Matematisk modellering og numeriske metoder
- Skipsteknologi
- Teknisk kybernetikk
- Simulering
- Hydrodynamikk
- Parameter og tilstandsestimering
- Reguleringsteknikk
- AUV
- Kybernetikk
- Robotikk
- Intelligente systemer
- Ikke-lineær reguleringsteknikk
- Estimeringsteori
- Treghetsnavigasjon
- Dynamisk Posisjonering
- Baneplanlegging
- Ubemannede fly
- Marin kybernetikk
- Aerodynamikk
- ROV
- Autopilot
- Fartøystyring
- Navigasjon
- Gaidingssystemer
- Droner
- Undervannsrobotikk
- Autonomous systems
- Kryptologi