Thor I. Fossen
Norwegian University of Science and Technology
377 Papers
2.5K Citations
Thor I. Fossen is an academic researcher from Norwegian University of Science and Technology. The author has contributed to research in topics: Control theory & Computer science. The author has an hindex of 69, co-authored 360 publications. Previous affiliations of Thor I. Fossen include SINTEF & Aalborg University.
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Papers
Cascaded Adaptive Control of Marine Vehicles with Significant Actuator Dynamics
TL;DR: In this paper, a cascaded adaptive control scheme for marine vehicles is presented, which does not require the parameters of the vehicle dynamics and the actuator time constants known a priori.
A unified control concept for autonomous underwater vehicles
Morten Breivik,Thor I. Fossen +1 more
- 14 Jun 2006
TL;DR: In this paper, a controller structure for the automatic control of autonomous underwater vehicles (AUVs) through their entire non-zero speed regimes, without resorting to switching between structurally different controllers, is proposed.
A nonlinear unified state-space model for ship maneuvering and control in a seaway
TL;DR: This article presents a unified state-space model for ship maneuvering, station-keeping, and control in a seaway by separating the vessel model into a low-frequency model and a wave- frequencies model, which is commonly used for simulation.
Nonlinear Observer for Tightly Coupled Integrated Inertial Navigation Aided by RTK-GNSS Measurements
TL;DR: A modular nonlinear observer is considered for tightly coupled integration of inertial measurements with global satellite measurements and the proposed observer is verified using experimental data from flights with an unmanned aerial vehicle, where the position estimates are shown to be within 2–4 cm of a global positioning system reference solution.
Nonlinear observer design for GNSS-aided inertial navigation systems with time-delayed GNSS measurements
TL;DR: A nonlinear observer structure for estimating position, linear velocity, and attitude (PVA) as well as accelerometer and gyro biases, using inertial measurements and time-delayed GNSS measurements, using a uniformly semiglobally exponentially stable (USGES) non linear observer.