Nonlinear Control of Underactuated Marine Craft

Thor Fossen


Speaker's Bio

I received my MSc Degree in Marine Technology in 1987 and PhD degree in Engineering Cybernetics in 1991 both from the Norwegian University of Science and Technology (NTNU), Trondheim. In the period 1989-1990 I pursued postgraduate studies as a Fulbright scholar in flight control at the Department of Aeronautics and Astronautics, University of Washington, Seattle. In 1993 I was appointed as a Professor of Guidance, Navigation and Control at the Department of Engineering Cybernetics where I am teaching, mathematical modeling of aircraft, marine craft, unmanned vehicles and control theory. I have authored approximately 300 scientific papers and five textbooks. I am one of the founders/owners of Marine Cybernetics AS where I have been Vice President R&D in the period 2002-2008. In 2002-2012 I was head of automatic control at the CoE on Ships and Ocean Structures, NTNU. I have also been senior scientific advisor for ABB (1998-2002). My expertise covers guidance, navigation, nonlinear control theory, vehicle dynamics, hydrodynamics, marine craft simulators, design of dynamic positioning (DP) system for free-floating and moored ships, nonlinear and passive state estimators for marine craft and unmanned vehicles, autopilots, trajectory-tracking, path-following, maneuvering control, identification of ship dynamics from sea trials and strapdown GNSS/INS navigation systems. I hold several patens on HIL-testing technology for maritime and offshore systems (2005-2009). A patent for weather optimal positioning control of marine vessels was granted in 1998. This work received the Automatica Prize Paper Award in 2002. I have also been involved in the design of the SeaLaunch trim and heel correction systems. In 2008 I received the Arch T. Colwell Merit Award at the SAE 2008 World Congress for a paper entitled Nonlinear Observer for Vehicle Velocity Estimation. Three of my former PhD candidates, Dr. Jann Peter Strand (2000), Professor Ole Morten Aamo (2003) and Professor Roger Skjetne (2005) have received an award for best PhD thesis at NTNU.

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