Publications
Professor Thor I. Fossen
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Attitude control and estimation Cybersecurity of autonomous vehicles Guidance Systems for path following Sea-state estimation ....more to come
TTK4109 Guidance, Navigation and Control of Vehicles TK8109 Advanced Guidance, Navigation and Control
Handbook of Marine Craft Hydrodynamics and Motion Control (T. I. Fossen), John Wiley & Sons, 2021 Lecture on 2-D and 3-D Line-of-Sight Guidance Laws for Path Following
PhD graduates MSc graduates
Marine Systems Simulator (MSS) Python Vehicle Simulator
Recognitions Patents Appointments

Books·Journals·Book Chapters·Conference Papers

Journals

  1. Akdağ, M., T. A. Pedersen, T. I. Fossen and T. A. Johansen (2024). A Decision Support System for Autonomous Ship Trajectory Planning. Ocean Engineering 292, 116562.
    Open Access   doi.org/10.1016/j.oceaneng.2023.116562
  2. Degorre, L., T. I. Fossen, E. Delaleau and O. Chocron (2024). A Virtual Reference Point Kinematic Guidance Law for 3-D Path-Following of Autonomous Underwater Vehicles. IEEE Access 12, 109822-109831.
    Open Access   doi.org/10.1109/ACCESS.2024.3440659
  3. Degorre, L., T. I. Fossen, O. Chocron and E. Delaleau (2024). A Model-Based Kinematic Guidance Method for Control of Underactuated Autonomous Underwater Vehicles. Control Engineering Practice 152, 106068.
    Preprint  doi.org/10.1016/j.conengprac.2024.106068
  4. Fossen, T. I. and A. P. Aguiar (2024). A Uniform Semiglobal Exponential Stable Adaptive Line-of-Sight (ALOS) Guidance Law for 3-D Path Following. Automatica 163, 111556.
    Open Access   doi.org/10.1016/j.automatica.2024.111556
  5. Dirdal, J. A., R. Skjetne, J. Rohac and T. I. Fossen (2023). A Phase-Time-Path-Difference Approach for Online Wave Direction and Wave Number Estimation from Measured Ship Motions in Zero and Forward Speed using a Single Inertial Measurement Unit. Ocean Engineering 288, 116131.
    Open Access   doi.org/10.1016/j.oceaneng.2023.116131
  6. Fossen, T. I. (2023). An Amplitude-Phase Representation of the North-East-Down Kinematic Differential Equations. IEEE Access 11, 12586-12592.
    Open Access   doi.org/10.1109/ACCESS.2023.3242331
  7. Fossen, T. I. (2023). An Adaptive Line-of-sight (ALOS) Guidance Law for Path Following of Aircraft and Marine Craft. IEEE Transactions on Control Systems Technology 31(6), 2887-2894.
    Open Access   doi.org/10.1109/TCST.2023.3259819
  8. Fossen, T. I. (2023). Feedback Error-state Kalman Filter with Time-delay Compensation for Hydroacoustic-aided Inertial Navigation of Underwater Vehicles. Control Engineering Practice 138, 105603.
    Open Access   doi.org/10.1016/j.conengprac.2023.105603
  9. Skulstad, R.,G. Li, T. I. Fossen and H. Zhang (2023). Constrained Control Allocation For Dynamic Ship Positioning Using Deep Neural Network. Ocean Engineering 279, 1-14.
    Open Access   doi.org/10.1016/j.oceaneng.2023.114434
  10. Solnør, P., S. Petrovic and T. I. Fossen (2023). Towards Oblivious Guidance Systems for Autonomous Vehicles. IEEE Transactions on Vehicular Technology 72(6), 7067-7081.
    Preprint  doi.org/10.1109/TVT.2023.3237892
  11. Tran, C., I. Gushkov, K. Nordvik, S. T. Røang, S. B. Lysthaug, B. Ommanic, T. I. Fossen, V. Hassani, V. Smines and T. A. Johansen (2023). Operability Analysis of Control System for ROV Launch-and-Recovery from Autonomous Surface Vessel. Ocean Engineering 277, 1-14.
    Open Access   doi.org/10.1016/j.oceaneng.2023.114272
  12. Volden, Ø., A. Stahl and T. I. Fossen (2023). Development and Experimental Validation of Visual-Inertial Navigation for Auto-Docking of Unmanned Surface Vehicles. IEEE Access 11, 45688-45710.
    Open Access   doi.org/10.1109/ACCESS.2023.3274597
  13. Volden, Ø., D. Cabecinhas, A. Pascoal and T. I. Fossen (2023). Development and Experimental Evaluation of Visual-acoustic Navigation for Safe Maneuvering of Unmanned Surface Vehicles in Harbor and Waterway Areas. Ocean Engineering 280, 1-14.
    Open Access   doi.org/10.1016/j.oceaneng.2023.114675
  14. Dallolio, A., H. Øveraas, J. A. Alfredsen, T. I. Fossen and T. A. Johansen (2022). Design and Validation of a Course Control System for a Wave-Propelled Unmanned Surface Vehicle. Field Robotics 2, 774-806.
    Open Access   doi.org/10.55417/fr.2022025
  15. Dirdal, J., R. Skjetne, J. Rohac and T. I. Fossen (2022). Online Wave Direction and Wave Number Estimation from Surface Vessel Motions using Distributed Inertial Measurement Arrays and Phase-Time-Path-Differences. Ocean Engineering 249.
    Open Access   doi.org/10.1016/j.oceaneng.2022.110760
  16. Fossen, T. I. (2022). Line-of-sight Path-following Control utilizing an Extended Kalman Filter for Estimation of Speed and Course over Ground from GNSS Positions. Journal of Marine Science and Technology 27, 806–813.
    Open Access   doi.org/10.1007/s00773-022-00872-y
  17. Solnør, P., Ø. Volden, K. Gryte, S. Petrovic and T. I. Fossen (2022). Hijacking of Unmanned Surface Vehicles: A Demonstration of Attacks and Countermeasures in the Field. Journal of Field Robotics 39(5), 631-649.
    Open Access   doi.org/10.1002/rob.22068
  18. Coates, E. M. and T. I. Fossen (2021). Geometric Reduced-Attitude Control of Fixed-Wing UAVs. Applied Sciences 11(7), 1-35.
    Open Access   doi.org/10.3390/app11073147
  19. Fossen, S. and T. I. Fossen (2021). Five-state Extended Kalman Filter for Estimation of Speed Over Ground (SOG), Course Over Ground (COG) and Course Rate of Unmanned Surface Vehicles (USVs): Experimental Results. Sensors 21(23).
    Open Access   doi.org/10.3390/s21237910
  20. Halvorsen, H. S., H. Øveraas, O. Landstad, V. Smines, T. I. Fossen and T. A. Johansen (2021). Wave Motion Compensation in Dynamic Positioning of Small Autonomous Vessels. Journal of Marine Science and Technology 26, 693–712.
    Open Access   doi.org/10.1007/s00773-020-00765-y
  21. Leira, F. S., H. H. Helgesen, T. A. Johansen and T. I. Fossen (2021). Object Detection, Recognition and Tracking from UAVs using a Thermal Camera. Journal of Field Robotics 38(2), 242-267.
    Open Access   doi.org/10.1002/rob.21985
  22. Rogne, R., T H. Bryne, T. I. Fossen and T. A. Johansen (2021). On the Usage of Low-Cost MEMS Sensors, Strapdown Inertial Navigation and Nonlinear Estimation Techniques in Dynamic Positioning. IEEE Journal of Oceanic Engineering 46(1), 24-39.
    Preprint  doi.org/10.1109/JOE.2020.2967094
  23. Skulstad, R., G. Li, T. I. Fossen, B. Vik and H. Zhang (2021). A Hybrid Approach to Motion Prediction for Ship Docking - Integration of a Neural Network Model into the Ship Dynamic Model. IEEE Transactions on Instrumentation & Measurement 70, 1-11.
    Open Access   doi.org/10.1109/TIM.2020.3018568
  24. Skulstad, R., G. Li, T. I. Fossen, T. Wang and H. Zhang (2021). A Co-operative Hybrid Model For Ship Motion Prediction. Modeling, Identification and Control. Modelling, Identification and Control 42(1), 17-26.
    Open Access   doi.org/10.4173/mic.2021.1.2
  25. Vagale, A., R. Oucheikh, R. T. Bye, O. L. Osen and T. I. Fossen (2021). Path Planning and Collision Avoidance for Autonomous Surface Vehicles I: A Review. Journal of Marine Science and Technology 26, 1292–1306.
    Open Access   doi.org/10.1007/s00773-020-00787-6
  26. Vagale, A., R. Oucheikh, R. T. Bye, O. L. Osen and T. I. Fossen (2021). Path Planning and Collision Avoidance for Autonomous Surface Vehicles II: A Review. Journal of Marine Science and Technology 26, 1307–1323.
    Open Access   doi.org/10.1007/s00773-020-00790-x
  27. Volden, Ø., A. Stahl and T. I. Fossen (2021). Vision-Based Positioning System for Auto-Docking of Unmanned Surface Vehicles (USVs). International Journal of Intelligent Robotics and Applications 5, 86–103.
    Open Access   doi.org/10.1007/s41315-021-00193-0
  28. Volden, Ø., P. Solnør, S. Petrovic and T. I. Fossen (2021). Secure and Efficient Transmission of Vision-Based Feedback Control Signals. Journal of Intelligent & Robotic Systems 103(26).
    Open Access   doi.org/10.1007/s10846-021-01472-5
  29. Xu, H., T. I. Fossen and C. Guedes Soares (2021). Uniformly Semiglobally Exponential Stability of Vector Field Guidance Law and Autopilot for Path Following. European Journal of Control 53, 88-97.
    Preprint  doi.org/10.1016/j.ejcon.2019.09.007
  30. Borup, K. T., B. N. Stovner, T. I. Fossen and T. A. Johansen (2020). Kalman Filters for Air Data System Bias Correction for a Fixed-Wing UAV. IEEE Transactions on Control Systems Technology 28(6), 2164-2176.
    Preprint  doi.org/10.1109/TCST.2019.2931672
  31. Borup, K. T., T. I. Fossen and T. A. Johansen (2020). 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 56(3), 2157-2173.
    Preprint  doi.org/10.1109/TAES.2019.2945383
  32. Jørgensen, E. K., T. I Fossen, T. H. Bryne and I. Scjølberg (2020). Underwater Position and Attitude Estimation Using Acoustic, Inertial and Depth Measurements. IEEE Journal of Oceanic Engineering 45(4), 1450-1465.
    Preprint  doi.org/10.1109/JOE.2019.2933883
  33. Klausen, K., C. Meissen, T. I. Fossen, M. Arcak and T. I. Johansen (2020). Cooperative Control for Multirotors Transporting an Unknown Suspended Load under Environmental Disturbances. IEEE Transactions on Control Systems Technology 28(2), 653-660.
    Preprint  doi.org/10.1109/TCST.2018.2876518
  34. Omholt, S. W., E. Almaas, A. Voigt, M. Hovd, T. I. Fossen and I. Steinsland (2020). Derfor bør norske myndigheter endre sin teststrategi. Gemini (in Norwegian).
    Open Access   gemini.no/2020/06/derfor-bor-norske-myndigheter-endre-sin-teststrategi/
  35. Hansen, J. M., T. A. Johansen, N. Sokolova and T. I. Fossen (2019). Nonlinear Observer for Tightly Coupled Integrated Inertial Navigation Aided by RTK-GNSS Measurements. IEEE Transactions on Control Systems Technology 27(3), 1084-1099.
    Preprint  doi.org/10.1109/TCST.2017.2785840
  36. Kayacan, E. and T. I. Fossen (2019). Feedback Lineariztion Control for Systems with Mismatched Uncertainties via Disturbance Observers. Asian Journal of Control 21(3), 1064-1076.
    Preprint  doi.org/10.1002/asjc.1802
  37. Skulstad, R., G. Li, T. I. Fossen, B. Vik and H. Zhang (2019). Dead Reckoning of Dynamically Positioned Ships using an Efficient Recurrent Neural Network. IEEE Robotics and Automation Magazine 26(3), 39-51.
    Preprint  doi.org/10.1109/MRA.2019.2918125
  38. Bryne, T. H., H. R. Rogne, T. I. Fossen and T. A. Johansen (2018). A Virtual Vertical Reference Concept for Aided Inertial Navigation at the Sea Surface. Control Engineering Practice 70, 1-14.
    Preprint  doi.org/10.1016/j.conengprac.2017.09.009
  39. Fossen, S. and T. I. Fossen (2018). eXogenous Kalman Filter (XKF) for Visualization and Motion Prediction of Ships using Live Automatic Identification Systems (AIS) Data. Modeling, Identification and Control 39(4), 233–244.
    Open Access   doi.org/10.4173/mic.2018.4.1
  40. Fusini, L., T. I. Fossen, T. A. Johansen (2018). Nonlinear Observers for GNSS- and Camera-Aided Inertial Navigation of a Fixed-Wing UAV. IEEE Transactions of Control Systems Technology 26(5), 1884-1891.
    Preprint  doi.org/10.1109/TCST.2017.2735363
  41. Helgesen, H. H., F. S. Leira, T. I. Fossen and T. A. Johansen (2018). Tracking of Ocean Surface Objects from Unmanned Aerial Vehicles with a Pan/Tilt Unit using a Thermal Camera. Journal of Intelligent and Robotic System 91, 775–793.
    Preprint  doi.org/10.1007/s10846-017-0722-3
  42. Jørgensen, E. K., T. I. Fossen, I. Schjølberg and P. T. T. Esperanca (2018). Experimental Validation of Attitude and Rate-Sensor Bias Filter using Range-Difference Measurements. Control Engineering Practice 73, 112-123.
    Preprint  doi.org/10.1016/j.conengprac.2018.01.002
  43. Klausen, K., T. I. Fossen and T. A. Johansen (2018). Autonomous Recovery of a Fixed-Wing UAV Using a Net Suspended by Two Multirotor UAVs. Journal of Field Robotics 35(5), 717- 731.
    Preprint  doi.org/10.1002/rob.21772
  44. Rogne, R. H., T. H. Bryne, T. I.Fossen and T. A. Johansen (2018). Redudant MEMS-based Inertial Navigation using Nonlinear Observers. Journal of Dynamic Systems, Measurement and Control 140(7).
    Preprint  doi.org/10.1115/1.4038647
  45. Stovner, B. N., T. A. Johansen, T. I. Fossen and I. Schjølberg (2018). Attitude Estimation by Multiplicative eXogenous Kalman Filter. Automatica 95, 347-355.
    Preprint  doi.org/10.1016/j.automatica.2018.05.038
  46. Bryne, T. H., J.M. Hansen, R.H. Rogne, N. Sokolova, T. A. Johansen and T. I. Fossen (2017). Nonlinear Observers for Integrated INS/GNSS Navigation: Implementation Aspects. IEEE Control Systems Magazine 27(3), 59-86.
    Preprint  doi.org/10.1109/MCS.2017.2674458
  47. Bryne, T. H., T. I. Fossen and T. A. Johansen (2017). Design of Inertial Navigation Systems for Marine Vessels with Adaptive Wave Filtering aided by Triple-Redundant Sensor Packages. International Journal of Adaptive Control and Signal Processing 31(4), 522-544.
    Preprint  doi.org/10.1002/acs.2645
  48. Hansen, J. M., T. I. Fossen and T. A. Johansen. (2017). Nonlinear Observer Design for GNSS-Aided Inertial Navigation Systems with Time-Delayed GNSS Measurements. Control Engineering Practice 60, 39-50.
    Preprint  doi.org/10.1016/j.conengprac.2016.11.016
  49. Johansen, T. A., ,T. I. Fossen and J. M. Hansen (2017). Nonlinear Observer for Tightly Integrated Inertial Navigation Aided by Pseudo-Range MeasurementsNonlinear Observer for Tightly Integrated. Journal of Dynamic Systems, Measurement and Control 139(1).
    Preprint  doi.org/10.1115/1.4034496
  50. Klausen, K., T. I. Fossen and T. A. Johansen. (2017). Nonlinear Control With Swing Damping of a Multirotor UAV with Suspended Load. Journal of Intelligent & Robotic Systems 88(2), 379-394.
    Preprint  doi.org/10.1007/s10846-017-0509-6
  51. Rohác, J., J. M. Hansen, M. Alam, M. Šipoš, T. A. Johansen and T. I. Fossen. (2017). Validation of Nonlinear Integrated Navigation Solutions. Annual Reviews in Control 43, 91-106.
    Preprint  doi.org/10.1016/j.arcontrol.2017.03.006
  52. Fossen, T. I. (2016). [People in Control]. IEEE Control Systems Magazine 36(3), 21-24.
    Open Access   doi.org/10.1109/MCS.2016.2536038
  53. Hosen, J., H. H. Helgesen, L. Fusini, T. I. Fossen and T. A. Johansen (2016). Vision-aided Nonlinear Observer for Fixed-wing Unmanned Aerial Vehicle Navigation. Journal of Guidance, Control, and Dynamics 39(8).
    Preprint  doi.org/10.2514/1.G000281
  54. Johansen, T. A. and T. I. Fossen (2016). The eXogenous Kalman Filter (XKF). International Journal of Control 90(2), 161-167 .
    Preprint  doi.org/10.1080/00207179.2016.1172390
  55. Johansen, T. A. and T. I. Fossen. (2016). Nonlinear Observer for Tightly Coupled Integration of Pseudorange and Inertial Measurements. IEEE Transactions on Control Systems Technology 24(6), 2199- 2206.
    Preprint  doi.org/10.1109/TCST.2016.2524564
  56. Johansen, T. A., T. I. Fossen and G. Goodwin (2016). Three-Stage Filter for Position Estimation using Pseudo-Range Measurements. IEEE Transactions on Aerospace and Electronic Systems 52(4), 1631-1643.
    Preprint  doi.org/10.1109/TAES.2016.150362
  57. Belleter, D. J., R. Galeazzi and T. I. Fossen (2015). Experimenal Verification of a Globally Exponentially Stable Nonlinear Wave Encounter Frequency Estimator. Ocean Engineering 97(15), 48–56.
    Preprint  doi.org/10.1016/j.oceaneng.2014.12.030
  58. Fossen, T. I. and A. Lekkas (2015). 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 31(4), 445–463.
    Preprint  doi.org/10.1002/acs.2550
  59. Fossen, T. I., K. Y. Pettersen and R. Galeazzi (2015). Line-of-Sight Path Following for Dubins Paths with Adaptive Sideslip Compensation of Drift Forces. IEEE Transactions on Control Systems Technology 23(2), 820-827.
    Preprint  doi.org/10.1109/TCST.2014.2338354
  60. Grip, H. F., T. I. Fossen, T. A. Johansen and A. Saberi (2015). Globally Exponentially Stable Attitude and Gyro Bias Estimation with Application to GNSS/INS Integration. Automatica 51, 158–166.
    Preprint  doi.org/10.1016/j.automatica.2014.10.076
  61. Peymani, E. and T. I. Fossen (2015). Path Following of Underwater Robots using Lagrange Multipliers. Robotics and Autonomous Systems 67, 44-52.
    Preprint  doi.org/10.1016/j.robot.2014.10.011
  62. Skulstad, R., C. Lie Syversen, M. Merz, N. Sokolova, T. I. Fossen and T. A. Johansen (2015). Autonomous Net Recovery of Fixed-Wing UAV with Single-Frequency Carrier-Phase Differential GNSS. IEEE Aerospace and Electronic Systems Magazine 30(5), 18-27.
    Preprint  doi.org/10.1109/MAES.2015.7119821
  63. Fossen, T. I. and K. Y. Pettersen (2014). On Semiglobal Exponential Stability (USGES) of Proportional Line-of-Sight Guidance Laws. Automatica 50(11), 2912-2917.
    Preprint  doi.org/10.1016/j.automatica.2014.10.018
  64. Lekkas, A. M. and T. I. Fossen (2014). Integral LOS Path Following for Curved Paths Based on a Monotone Cubic Hermite Spline Parametrization. IEEE Transactions on Control Systems Technology 22(6), 2287-2301.
    Preprint  doi.org/10.1109/TCST.2014.2306774
  65. Peymani, E., H. F. Grip, A. Saberi, X. Wang and T. I. Fossen (2014). H-infinity Almost Output Synchronization for Heterogeneous Networks of Introspective Agents Under External Disturbance. Automaticaa 50(4), 1026–1036.
    Preprint  doi.org/10.1016/j.automatica.2013.12.021
  66. Johansen, T. A. and T. I. Fossen (2013). Control Allocation - A Survey. Automatica 49(5), 1087-1103.
    Preprint  doi.org/10.1016/j.automatica.2013.01.035
  67. Lekkas, A. M., A. R. Dahl, M. Breivik and T. I. Fossen (2013). Continuous-Curvature Path Generation using Fermat's Spiral. Modeling, Identification and Control 34(4), 183-198.
    Open Access   doi.org/10.4173/mic.2013.4.3
  68. From, P. J., I. Schjølberg, J. T. Gravdahl, K. Y. Pettersen and T. I. Fossen (2012). On the Boundedness Property of the Inertia Matrix and Skew-Symmetric Property of the Coriolis Matrix for Vehicle-Manipulator Systems. ASME. Journal of Dynamic Systems, Measurements and Control 134(4):044501.
    Preprint  doi.org/10.1115/1.4006077
  69. Grip, H. F., T. I. Fossen, T. A. Johansen and A. Saberi (2012). Attitude Estimation Using Biased Gyro and Vector Measurements with Time-Varying Reference Vector. IEEE Transactions on Automatic Control 57 (5), 1332-1338.
    Preprint  doi.org/10.1109/TAC.2011.2173415
  70. Holden, C. and T. I. Fossen (2012). A Nonlinear 7-DOF Model for U-Tanks of Arbitrary Shape. Ocean Engineering 45, 22-37.
    Preprint  doi.org/10.1016/j.oceaneng.2012.02.002
  71. Holden, C., T. Perez and T. I. Fossen (2011). A Lagrangian Approach to Nonlinear Modeling of Anti-Roll Tanks. Ocean Engineering 38, 341-359.
    Preprint  doi.org/10.1016/j.oceaneng.2010.11.012
  72. Perez, T. and T. I. Fossen (2011). Practical Aspects of Frequency-Domain Identification of Dynamic Models of Marine Structures from Hydrodynamic Data. Ocean Engineering 38, 426-435.
    Preprint  doi.org/10.1016/j.oceaneng.2010.11.004
  73. Jensen, G. A., N. Säfström, T. D. Nguyen and T. I. Fossen (2010). A Nonlinear PDE Formulation for Offshore Vessel Pipeline Installation. Ocean Engineering 37(4), 365-377.
    Preprint  doi.org/10.1016/j.oceaneng.2009.12.009
  74. Jouffroy, J. and T. I. Fossen (2010). A Tutorial on Incremental Stability Analysis using Contraction Theory. Modeling, Identification and Control 31(3), 93-106.
    Open Access   doi.org/10.4173/mic.2010.3.2
  75. Fossen, T. I. and T. Perez (2009). Kalman Filtering for Positioning and Heading Control of Ships and Offshore Rigs. IEEE Control Systems Magazine 29(6), 32-46.
    Preprint  doi.org/10.1109/MCS.2009.934408
  76. Perez, T. and T. I. Fossen (2009). A Matlab Toolbox for Parametric Identification of Radiation-Force Models of Ships and Offshore Structures. Modeling, Identification and Control 30(1), 1-15.
    Open Access   doi.org/10.4173/mic.2009.1.1
  77. Alfaro-Cid, E., E. W. McGookin, D. J. Murray-Smith and T. I. Fossen (2008). Genetic Programming for the Automatic Design of Controllers for a Surface Ship. IEEE Transactions on Intelligent Transportation Systems 9(2), 311-321.
    Preprint  doi.org/10.1109/TITS.2008.922932
  78. Breivik, M., V. E. Hovstein and T. I. Fossen (2008). Straight-Line Target Tracking for Unmanned Surface Vehicles. Modeling, Identification and Control 29(4), 131-149.
    Open Access   doi.org/10.4173/mic.2008.4.2
  79. Grip, H. F., L. Imsland, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl and A. Suissa (2008). Nonlinear Vehicle Side-Slip Estimation with Friction Adaptation. Automatica 44(3), 611-622.
    Preprint  doi.org/10.1016/j.automatica.2007.06.017
  80. Johansen, T. A., T. P. Fuglseth, P. Tøndel and T. I. Fossen (2008). Optimal Constrained Control Allocation in Marine Surface Vessels with Rudders. Control Engineering Practice 16(4), 457-464.
    Preprint  doi.org/10.1016/j.conengprac.2007.01.012
  81. Perez, T. and T. I. Fossen (2008). Time- vs. Frequency-domain Methods for Identification of Parametric Radiation Force Models fro Marine Structures at Zero Speed. Modeling, Identification and Control 29(1), 1-19.
    Open Access   doi.org/10.4173/mic.2008.1.1
  82. Perez, T. and T. I. Fossen (2008). Joint Identification of Infinite-Frequency Added Mass and Fluid-Memory Models of Marine Structures. Modeling, Identification and Control 29(3), 93-102.
    Open Access   doi.org/10.4173/mic.2008.3.2
  83. Perez, T. and T. I. Fossen (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 5(1), 65-78.
    Open Access   www.jmr.unican.es/index.php/jmr/article/view/36
  84. Holden, C., .Galeazzi, C. Rodríguez, T. Perez, T. I. Fossen, M. Blanke and M. A. S. Neves (2007). Nonlinear Container Ship Model for the Study of Parametric Roll Resonance. Modeling, Identification and Control 28(4), 87-103.
    Open Access   doi.org/10.4173/mic.2007.4.1
  85. Ihle, I.-A., M. Arcak and T. I. Fossen (2007). Passivation Designs for Synchronized Path Following. Automatica 43(9), 1508-1518.
    Preprint  doi.org/10.1016/j.automatica.2007.02.018
  86. Imsland, L. S., H. F. Grip, T. A. Johansen and T. I. Fossen (2007). On Nonlinear Unknown Input Observers – Applied to Lateral Velocity Vehicle Velocity Estimation on Banked Roads. International Journal of Control 80(11), 1741-1750.
    Preprint  doi.org/10.1080/00207170701502066
  87. Moreira, L., T. I. Fossen and C. Guedes Soares (2007). Path Following Control System for a Tanker Ship Model. Ocean Engineering 34(14-15), 2074-2085.
    Preprint  doi.org/10.1016/j.oceaneng.2007.02.005
  88. Perez, T. and T. I. Fossen (2007). Kinematic Models for Seakeeping and Maneuvering of Marine Vessels. Modeling, Identification and Control 28(1), 19-30.
    Open Access   doi.org/10.4173/mic.2007.1.3
  89. Pivano, L., Ø. N. Smogeli, T. A. Johansen and T. I. Fossen (2007). Experimental Validation of a Marine Propeller Thrust Estimation Scheme. Modeling, Identification and Control 28(2), 105-112.
    Open Access   doi.org/10.4173/mic.2007.4.2
  90. Ihle, I.-A., J. Jouffroy and T. I. Fossen (2006). Formation Control of Marine Surface Craft: A Lagrangian Approach. IEEE Journal of Oceanic Engineering 31(3), 922-934.
    Preprint  doi.org/10.1109/JOE.2006.880426
  91. Imsland, L., T. A. Johansen, T. I. Fossen, H. F. Grip, J. C. Kalkkuhl and A. Suissa (2006). Vehicle Velocity Estimation using Nonlinear Observers. Automatica 42(12), 2091-2103.
    Preprint  doi.org/10.1016/j.automatica.2006.06.025
  92. Perez, T., Ø. N. Smogeli, T. I. Fossen and A. J. Sørensen (2006). An Overview of the Marine Systems Simulator (MSS): A Simulink Toolbox for Marine Control Systems. Modeling, Identification and Control 27(4), 259-275.
    Open Access   doi.org/10.4173/mic.2006.4.4
  93. Alfaro-Cid, E., E. W. McGookin, D. J. Murray-Smith and T. I. Fossen (2005). Genetic Algorithms Optimization of Decoupled Sliding Mode Controllers: Simulated and Real Results. Control Engineering Practice Control Engineering Practice 13(6), 739-748.
    Preprint  doi.org/10.1016/j.conengprac.2004.07.004
  94. Fossen, T. I. (2005). A Nonlinear Unified State-Space Model for Ship Maneuvering and Control in a Seaway. International Journal of Bifurcation and Chaos 15(9), 2717-2746.
    Preprint  doi.org/10.1142/S0218127405013691
  95. Johansen, T. A., T. I. Fossen and P. Tøndel (2005). Efficient Optimal Constrained Control Allocation via Multi-Parametric Programming. AIAA Journal of Guidance, Control and Dynamics 28(3), 506-515.
    Preprint  doi.org/10.2514/1.10780
  96. Skjetne, R., T. I. Fossen, and P. V. Kokotovic (2005). Adaptive Output Maneuvering with Experiments for a Model Ship in a Marine Control Laboratory. Automatica 41(4), 289-298.
    doi.org/10.1016/j.automatica.2004.10.006
  97. Fossen, T. I. and Ø. N. Smogeli (2004). Nonlinear Time-Domain Strip Theory Formulation for Low-Speed Maneuvering and Station-Keeping. Modeling, Identification and Control 25(4), 201-221.
    Open Access   doi.org/10.4173/mic.2004.4.1
  98. Johansen, T. A., T. I. Fossen and S. P. Berge (2004). Constrained Nonlinear Control Allocation with Singularity Avoidance using Sequential Quadratic Programming. IEEE Transactions on Control Systems Technology 12(1), 211-216.
    Preprint  doi.org/10.1109/TCST.2003.821952
  99. Johansen, T. A., T. I. Fossen, S. I. Sagatun and F. G. Nielsen (2004). Wave Synchronizing Crane Control during Water Entry in Offshore Moonpool Operations. Modeling, Identification and Control 25(1), 29-44.
    Open Access   doi.org/10.4173/mic.2004.1.2
  100. Skjetne, R., T. I. Fossen, and P. V. Kokotovic (2004). Robust Output Maneuvering for a Class of Nonlinear Systems. Automatica 40(3), 373-383.
    doi.org/10.1016/j.automatica.2003.10.010
  101. Skjetne, R., Ø. N. Smogeli and T. I. Fossen (2004). A Nonlinear Ship Maneuvering Model: Identification and Adaptive Control with Experiments for a Model Ship. Modeling, Identification and Control 25(1), 3-27.
    Open Access   doi.org/10.4173/mic.2004.1.1
  102. Johansen, T. A., T. I. Fossen, S. I. Sagatun and F. G. Nielsen (2003). Wave Synchronizing Crane Control during Water Entry in Offshore Moonpool Operations: Experimental Results. Journal of Oceanic Engineering 28(4), 720-728.
    Preprint  doi.org/10.1109/JOE.2003.819155
  103. Lindegaard, K. P. and T. I. Fossen (2003). Fuel Efficient Rudder and Propeller Control Allocation for Marine Craft: Experiments with a Model Ship. IEEE Transactions on Control Systems Technology11(6), 850-862.
    Preprint  doi.org/10.1109/TCST.2003.815613
  104. Aamo, O. M. and T. I. Fossen (2002). Tutorial on Feedback Control of Flows, Part Stabilization of Fluid Flows in Channels and Pipes. Modeling, Identification and Control 23(3), 161-226.
    Open Access   doi.org/10.4173/mic.2002.3.1
  105. Aamo, O. M. and T. I. Fossen (2002). Tutorial on Feedback Control of Flows, Part II: Control and Mixing. Modeling, Identification and Control 23(3), 275-298.
    Open Access   doi.org/10.4173/mic.2002.4.3
  106. Fossen T. I., A. Loria and A. Teel (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 11(2), 95-108.
    Preprint  doi.org/10.1002/rnc.551
  107. Fossen, T. I. and J. P. Strand (2001). Nonlinear Passive Weather Optimal Positioning Control (WOPC) System for Ships and Rigs: Experimental Results. Automatica 37(5), 701-715.
    doi.org/10.1016/S0005-1098(01)00006-1
  108. Hansen, J. F., A. K. Ådnanes and T. I. Fossen (2001). Mathematical Modelling of Diesel Electric Propulsion Systems for Marine Vessels. Mathematical and Computer Modelling of Dynamical Systems 7(3), 323-355.
    Open Access   doi.org/10.1076/mcmd.7.3.323.3641
  109. Vik, B. and T. I. Fossen (2001). A Nonlinear Observer for Integration of GPS and Inertial Navigation Systems. Modeling, Identification and Control 21(4), 192-208.
    Open Access   doi.org/10.4173/mic.2000.4.1
  110. Aamo, O. M. and T. I. Fossen (2001). Finite Element Modelling of Moored Vessels. Mathematical and Computer Modelling of Dynamical Systems 7(1), 47-75.
    Preprint  doi.org/10.1076/mcmd.7.1.47.3632
  111. Aamo, O. M., M. Arcak, T. I. Fossen and P. V. Kokotovic (2001). Global Output Tracking Control of a Class of Euler-Lagrange Systems with Monotonic Nonlinearities in the Velocities. International Journal of Control 74(7), 649-658.
    Preprint  doi.org/10.1080/00207170010026130
  112. Berge, S. P. and T. I. Fossen (2000). On the Properties of the Nonlinear Ship Equations of Motion. Mathematical and Computer Modelling of Dynamical Systems 6(4), 365-381.
    Open Access   doi.org/10.1076/mcmd.6.4.365.3660
  113. Fossen, T. I. (2000). Nonlinear Passive Control and Observer Design for Ships. Modeling, Identification and Control 21(3), 129-184.
    Open Access   doi.org/10.4173/mic.2000.3.1
  114. Fossen, T. I. (2000). Recent Developments in Ship Control Systems Design. World Superyacht Review, Sterling Publications Limited, London, Millennium Edition, 115-116.
    Preprint  
  115. Fossen, T. I. and M. Blanke (2000). Nonlinear Output Feedback Control of Underwater Vehicle Propellers using Feedback from Estimated Axial Flow Velocity. IEEE Journal of Oceanic Engineering 25(2), 241-255.
    Preprint  doi.org/10.1109/48.838987
  116. Loria, A., T. I. Fossen and E. Panteley (2000). A Separation Principle for Dynamic Positioning of Ships: Theoretical and Experimental Results. EEE Transactions of Control Systems Technology 8(2), 332-343.
    doi.org/10.1109/87.826804
  117. McGookin, E. W., D. J. Murray-Smith, Y. Lin and T. I. Fossen (2000). Ship Steering Control System Optimisation Using Genetic Algorithms. Control Engineering Practice 8(4), 429-443.
    Preprint  doi.org/10.1016/S0967-0661(99)00159-8
  118. McGookin, E. W., D. J. Murray-Smith, Y. Lin and T. I. Fossen (2000). Experimental Results from Supply Ship Autopilot Optimisation Using Genetic Algorithms. Transactions of the Institute of Measurement and Control 22(2), 141-178.
    Preprint  doi.org/10.1177/014233120002200203
  119. Nie, J., J. Yuh, E. Kardash and T. I. Fossen (2000). nboard Sensor-Based Adaptive Control of Small UUV in Very Shallow Water. Journal of Adaptive Control and Signal Processing 14(4), 441-452.
    https://onlinelibrary.wiley.com/toc/10991115/2000/14/4  
  120. Pettersen, K. Y. and T. I. Fossen (2000). Underactuated Dynamic Positioning of a Ship - Experimental Results. IEEE Transactions on Control Systems Technologyc8(5), 856-863.
    doi.org/10.1109/87.865859
  121. Vik, B. and T. I. Fossen (2000). A Nonlinear Observer for Integration of GPS and Inertial Navigation Systems. Modeling, Identification and Control 21(4), 192-208.
    Open Access   doi.org/10.4173/mic.2000.4.1
  122. Aamo, O. M. and T. I. Fossen (2000). Finite Element Modeling of Mooring Lines. Mathematics and Computers in Simulation 53(4-6), 415-422.
    Preprint  doi.org/10.1016/S0378-4754(00)00235-4
  123. Berge, S. P., K. Ohtsu and T. I. Fossen (1999). Nonlinear Control of Ships Minimizing the Position Tracking Errors. Modeling, Identification and Control 20(3), 177-187.
    Open Access   doi.org/10.4173/mic.1999.3.3
  124. Fossen, T. I. and J. P. Strand (1999). Tutorial on Nonlinear Backstepping: Applications to Ship Control. Modeling, Identification and Control 20(2), 83-135.
    Open Access   doi.org/10.4173/mic.1999.2.3
  125. Fossen, T. I. and J. P. Strand (1999). Passive Nonlinear Observer Design for Ships Using Lyapunov Methods: Experimental Results with a Supply Vessel. Automatica 35(1), 3-16.
    Preprint  doi.org/10.1016/S0005-1098(98)00121-6
  126. Fossen, T. I. and Å. Grøvlen (1998). Nonlinear Output Feedback Control of Dynamically Positioned Ships Using Vectorial Observer Backstepping. IEEE Transactions on Control Systems Technology 6(1), 121-128.
    Preprint  doi.org/10.1109/87.654882
  127. Godhavn, J.- M., T. I. Fossen and S. P. Berge (1998). Nonlinear and Adaptive Backstepping Designs for Tracking Control of Ships. International Journal of Adaptive Control and Signal Processing (12)8, 649-670.
    Preprint  doi.org/10.1002/%28SICI%291099-1115%28199812%2912%3A8%3C649%3A%3AAID-ACS515%3E3.0.CO%3B2-P
  128. Lauvdal, T. and T. I. Fossen (1998). Robust Adaptive Ship Autopilot with Wave Filter and Integral Action. International Journal of Adaptive Control and Signal Processing (12)8, 605-622.
    Preprint  doi.org/10.1002/%28SICI%291099-1115%28199812%2912%3A8%3C605%3A%3AAID-ACS516%3E3.0.CO%3B2-1
  129. Paulsen, M., O. Egeland and T. I. Fossen (1998). A Passive Feedback Controller With Wave Filter for Marine Vehicles. International Journal of Robust and Nonlinear Control (8)15, 1239-1253.
    Preprint  doi.org/10.1002/(SICI)1099-1239(19981230)8:15%3C1239::AID-RNC379%3E3.0.CO;2-7
  130. Strand, J. P., A. J. Sørensen and T. I. Fossen (1998). Design of Automatic Thruster Assisted Position Mooring Systems for Ships. Modeling, Identification and Control 19(2), 61-75.
    Open Access   doi.org/10.4173/mic.1998.2.1
  131. Vik, B. and T. I. Fossen (1997). Semiglobal Exponential Output Feedback Control of Ships. IEEE Transactions on Control Systems Technology 5(3), 360-370.
    Preprint  doi.org/10.1109/87.572132
  132. Fossen, T. I. (1996). Preface to the Special Section on Control Applications in Marine Systems. Control Engineering Practice 4(3), 341-343.
  133. Fossen, T. I. and O.-E. Fjellstad (1996). Robust Adaptive Control of Underwater Vehicles: A Comparative Study. Modeling, Identification and Control 17(1), 47-61.
    Open Access   doi.org/10.4173/mic.1996.1.5
  134. Fossen, T. I., S. I. Sagatun and A. J. Sørensen (1996). Identification of Dynamically Positioned Ships. Control Engineering Practice 4(3), 369-376.
    Preprint  doi.org/10.1016/0967-0661(96)00014-7
  135. Fossen, T. I., S. I. Sagatun and A. J. Sørensen (1996). Identification of Dynamically Positioned Ships. Modeling, Identification and Control 17(2), 153-165.
    Open Access   doi.org/10.4173/mic.1996.2.7
  136. Lauvdal, T. and T. I. Fossen (1996). A Globally Stable Autopilot with Wave fFlter using only Yaw Angle Measurements. Modeling, Identification and Control 17(2), 107-119.
    Open Access   doi.org/10.4173/mic.1996.2.4
  137. Sørensen, A. J., S. I. Sagatun and T. I. Fossen (1996). Design of a Dynamic Positioning System Using Model Based Control. Control Engineering Practice 4(3), 359-368.
    Preprint  doi.org/10.1016/0967-0661(96)00013-5
  138. Sørensen, A. J., S. I. Sagatun and T. I. Fossen (1996). Design of a Dynamic Positioning System Using Model Based Control. Modeling, Identification and Control 17(2), 135-151.
    Open Access   doi.org/10.4173/mic.1996.2.6
  139. Fossen, T. I. and O.-E. Fjellstad (1995). Nonlinear Modelling of Marine Vehicles in 6 Degrees of Freedom. International Journal of Mathematical Modelling of Systems 1(1), 17-27.
    Preprint  doi.org/10.1080/13873959508837004
  140. Fjellstad, O.-E. and T. I. Fossen (1994). Position and Attitude Tracking of AUVs: A Quaternion Feedback Approach. IEEE Journal of Oceanic Engineering 19(4), 512-518.
    doi.org/10.1109/48.338387
  141. Fjellstad, O.-E. and T. I. Fossen (1994). Comments on "The Attitude Control Problem. IEEE Transactions on Automatic Control 39(3), 699-700.
    doi.org/10.1109/9.280793
  142. Fossen, T. I. and O.-E. Fjellstad (1994). Cascaded Adaptive Control of Marine Vehicles With Significant Actuator Dynamics. Modeling, Identification and Control 15(2), 81-91.
    Open Access   doi.org/10.4173/mic.1994.2.2
  143. Fossen, T. I. (1993). Comments on "Hamiltonian adaptive control of spacecraft" by J.J.E. Slotine and M.D. Di Benedetto. IEEE Transactions on Automatic Control 38(5), 671-672.
    Preprint  doi.org/10.1109/9.250547
  144. Fossen, T. I. and M. J. Paulsen (1993). Adaptive Feedback Linearization Applied to Steering of Ships. Modeling, Identification and Control 14(4), 229-237.
    Open Access   doi.org/10.4173/mic.1993.4.4
  145. Fjellstad, O.-E., T. I. Fossen and O. Egeland (1992). Adaptive Control of ROVs with Actuator Dynamics and Saturation. Modeling, Identification and Control 13(3), 175-188.
    Open Access   doi.org/10.4173/mic.1992.3.5
  146. Fossen, T. I and B. A. Foss (1991). Sliding Control of MIMO Nonlinear Systems. Modeling, Identification and Control 12(3), 29-138.
    Open Access   doi.org/10.4173/mic.1991.3.3
  147. Fossen, T. I and S. I. Sagatun (1991). Adaptive Control of Nonlinear Systems: A Case Study of Underwater Robotic Systems. Journal of Robotic Systems 8(3).
    Preprint  doi.org/10.1002/rob.4620080307
  148. Fossen, T. I. and S. I. Sagatun (1991). Adaptive Control of Nonlinear Underwater Robotic Systems. Modeling, Identification and Control 12(2), 95-105.
    Open Access   doi.org/10.4173/mic.1991.2.4
  149. Fossen, T. I. (1990). Adaptive Feedback Linearization of Non-linear Systems with Significant Actuator Dynamics. Modeling, Identification and Control 11(3), 169-179.
    Open Access   doi.org/10.4173/mic.1990.3.4
  150. Fossen, T. I. and J. G. Balchen (1988). Modeling and Non-Linear Self-Tuning Robust Trajectory Control of an Autonomous Underwater Vehicle. Modeling, Identification and Control 9(4), 165-177.
    Open Access   doi.org/10.4173/mic.1988.4.1