Publications
Journal Papers
H. F. Grip and A. Saberi, “High-gain observer design for multi-output systems: Transformation to a canonical form by dynamic output shaping,” International Journal of Robust and Nonlinear Control, Special Issue on High Gain Observers and Nonlinear Output Feedback Control, 2012. [PDF]
T. Yang, A. A. Stoorvogel, H. F. Grip, and A. Saberi, “Semi-global regulation of output synchronization for heterogeneous networks of non-introspective, invertible agents subject to actuator saturation,” International Journal of Robust and Nonlinear Control, 2012. [PDF]
X. Wang, A. Saberi, H. F. Grip, and A. A. Stoorvogel, “Control of open-loop neutrally stable systems subject to actuator saturation and external disturbances,” International Journal of Robust and Nonlinear Control, vol. 23, no. 2, pp. 229–240, 2013. [PDF]
H. F. Grip, T. Yang, A. Saberi, and A. A. Stoorvogel, “Output synchronization for heterogeneous networks of non-introspective agents,” Automatica, vol. 48, no. 10, pp. 2444–2453, 2012. [PDF]
X. Wang, A. Saberi, H. F. Grip, and A. A. Stoorvogel, “Simultaneous external and internal stabilization of linear systems with input saturation and non-input-additive sustained disturbances,” Automatica, vol. 48, no. 10, pp. 2633–2639, 2012. [PDF]
X. Wang, A. Saberi, A. A. Stoorvogel, and H. F. Grip, “Control of a chain of integrators subject to actuator saturation and disturbances,” International Journal of Robust and Nonlinear Control, vol. 22, no. 14, pp. 1562–1570, 2012. [PDF]
H. F. Grip, A. Saberi, and T. A. Johansen, “Observers for interconnected nonlinear and linear systems,” Automatica, vol. 48, no. 7, pp. 1339–1346, 2012. [PDF]
X. Wang, H. F. Grip, A. Saberi, A. A. Stoorvogel, and I. Saberi, “Remarks on the relationship between Lp stability and internal stability of nonlinear systems,” International Journal of Robust and Nonlinear Control, 2012. [PDF]
H. F. Grip, T. I. Fossen, T. A. Johansen, and A. Saberi, “Attitude estimation using biased gyro and vector measurements with time-varying reference vectors,” IEEE Transactions on Automatic Control, vol. 57, no. 5, pp. 1332–1338, 2012. [PDF]
X. Wang, A. Saberi, A. A. Stoorvogel, and H. F. Grip, “Further results on the disturbance response of a double integrator controlled by saturating linear state feedback,” Automatica, vol. 48, no. 2, pp. 430–435, 2012. [PDF]
X. Wang, A. A. Stoorvogel, A. Saberi, H. F. Grip, and P. Sannuti, “Stabilization of nonlinear sandwich systems via state feedback—discrete-time systems,” International Journal of Robust and Nonlinear Control, vol. 21, no. 16, pp. 1841–1864, 2011. [PDF]
H. F. Grip, A. Saberi, and T. A. Johansen, “Estimation of states and parameters for linear systems with nonlinearly parameterized perturbations,” Systems & Control Letters, vol. 60, no. 9, pp. 771–777, 2011. [PDF]
H. F. Grip, A. Saberi, and X. Wang, “Stabilization of multiple-input multiple-output linear systems with saturated outputs,” IEEE Transactions on Automatic Control, vol. 55, no. 9, pp. 2160–2164, 2010. [PDF]
X. Wang, A. A. Stoorvogel, A. Saberi, H. F. Grip, S. Roy, and P. Sannuti, “Stabilization of a class of nonlinear sandwich systems via state feedback,” IEEE Transactions on Automatic Control, vol. 55, no. 9, pp. 2156–2160, 2010. [PDF]
H. F. Grip and A. Saberi, “Structural decomposition of linear multivariable systems using symbolic computations,” International Journal of Control, vol. 83, no. 7, pp. 1414–1426, 2010. [PDF] [Maple code]
H. F. Grip, T. A. Johansen, L. Imsland, and G.-O. Kaasa, “Parameter estimation and compensation in systems with nonlinearly parameterized perturbations,” Automatica, vol. 46, no. 1, pp. 19–28, 2010. [PDF]
H. F. Grip, L. Imsland, T. A. Johansen, J. C. Kalkkuhl, and A. Suissa, “Vehicle sideslip estimation: Design, implementation, and experimental validation,” IEEE Control Systems Magazine, vol. 29, no. 5, pp. 36–52, 2009. [PDF]
H. F. Grip, L. Imsland, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl, and A. Suissa, “Nonlinear vehicle side-slip estimation with friction adaptation,” Automatica, vol. 44, no. 3, pp. 611–622, 2008. [PDF]
L. Imsland, T. A. Johansen, H. F. Grip, and T. I. Fossen, “On nonlinear unknown input observers—applied to lateral vehicle velocity estimation on banked roads,” International Journal of Control, vol. 80, no. 11, pp. 1741–1750, 2007. [PDF]
L. Imsland, T. A. Johansen, T. I. Fossen, H. F. Grip, J. C. Kalkkuhl, and A. Suissa, “Vehicle velocity estimation using nonlinear observers,” Automatica, vol. 42, no. 12, 2091–2103, 2006. [DOI]
Conference Papers
X. Wang, A. Saberi, A. A. Storvogel, H. F. Grip, and T. Yang, “Multi-agent consensus with uniform constant communication delay,” in Proc. IEEE Conference on Decision and Control, Maui, HI, 2012. To appear. [PDF]
T. Yang, A. A. Stoorvogel, H. F. Grip, and A. Saberi, “Semi-global regulation of output consensus for networks of non-identical, invertible linear agents subject to actuator saturation,” in Proc. IEEE Conference on Decision and Control, Maui, HI, 2012. To appear. [PDF]
H. F. Grip, T. I. Fossen, T. A. Johansen, and A. Saberi, “A nonlinear observer for integration of GNSS and IMU measurements with gyro bias estimation,” in Proc. American Control Conference, Montreal, Canada, 2012, pp. 4607–4612. [PDF]
H. F. Grip, T. Yang, A. Saberi, and A. A. Stoorvogel, “Decentralized control for output synchronization in heterogeneous networks of non-introspective agents,” in Proc. American Control Conference, Montreal, Canada, 2012, pp. 812–819. [PDF]
X. Wang, A. Saberi, H. F. Grip, and A. A. Stoorvogel, “Control of linear systems with input saturation and non-input-additive sustained disturbances—continuous-time systems,” in Proc. American Control Conference, Montreal, Canada, 2012, pp. 2313–2318. [PDF]
X. Wang, A. Saberi, H. F. Grip, and A. A. Stoorvogel, “Control of linear systems with input saturation and non-input-additive sustained disturbances—discrete-time systems,” in Proc. American Control Conference, Montreal, Canada, 2012, pp. 2319–2324. [PDF]
X. Wang, H. F. Grip, A. Saberi, and T. A. Johansen, “A new low-and-high gain feedback design using MPC for global stabilization of linear systems subject to input saturation,” in Proc. American Control Conference, Montreal, Canada, 2012, pp. 2337–2342. [PDF]
H. F. Grip, A. Saberi, and T. A. Johansen, “Observers for cascaded nonlinear and linear systems,” in Proc. IEEE Conference on Decision and Control, Orlando, FL, 2011, pp. 3331–3337. [PDF]
T. Yang, A. Saberi, A. A. Stoorvogel, and H. F. Grip, “Output consensus for networks of non-identical introspective agents,” in Proc. IEEE Conference on Decision and Control, Orlando, FL, 2011, 1286–1292. [PDF]
H. F. Grip, T. I. Fossen, T. A. Johansen, and A. Saberi, “Attitude estimation based on time-varying reference vectors with biased gyro and vector measurements,” in Proc. IFAC World Congress, Milano, Italy, 2011, pp. 8497–8502. [PDF]
H. F. Grip, A. Saberi, and T. A. Johansen, “State and parameter estimation for nonlinearly parameterized systems: An H∞-based approach,” in Proc. IFAC World Congress, Milano, Italy, 2011, pp. 2997–3002. [PDF]
X. Wang, H. F. Grip, A. Saberi, A. A. Stoorvogel, and I. Saberi, “Remarks on the relationship between Lp stability and internal stability of nonlinear systems,” in Proc. American Control Conference, San Francisco, CA, 2011, pp. 1969–1970. [PDF]
H. F. Grip and A. Saberi, “High-gain observer design for domination of nonlinear perturbations: Transformation to a canonical form by dynamic output shaping,” in Proc. IEEE Conference on Decision and Control, Atlanta, GA, 2010, pp. 5043–5049. [PDF]
A. Folk, B. Armstrong, E. Wolbrecht, H. F. Grip, M. Anderson, and D. Edwards, “Autonomous underwater vehicle navigation using moving baseline on a target ship,” in Proc. IEEE OCEANS Conference, Seattle, WA, 2010. [PDF]
H. F. Grip, A. Saberi, A. A. Stoorvogel, X. Wang, and S. Roy, “Semiglobal stabilization of sandwich systems by dynamic output feedback,” in Proc. American Control Conference, Baltimore, MD, 2010, pp. 4229–4234. [PDF]
H. F. Grip and A. Saberi, “Observer design in the presence of periodic output disturbances by mixing of past and present output data,” in Proc. IEEE Conference on Decision and Control, Shanghai, China, 2009, pp. 6101–6106. [PDF]
H. F. Grip, A. Saberi, and T. A. Johansen, “State and parameter estimation for linear systems with nonlinearly parameterized perturbations,” in Proc. IEEE Conference on Decision and Control, Shanghai, China, 2009, pp. 8218–8225. [PDF] [Corrigendum]
X. Wang, A. A. Stoorvogel, A. Saberi, H. F. Grip, S. Roy, and P. Sannuti, “Stabilization of a class of sandwich nonlinear systems via state feedback,” in Proc. IEEE Conference on Decision and Control, Shanghai, China, 2009, pp. 1417–1421. [PDF]
H. F. Grip and A. Saberi, “Structural decomposition of linear multivariable systems using symbolic computations,” in Proc. Asian Control Conference, Hong Kong, China, 2009, pp. 1205–1210. [PDF] [Maple code]
H. F. Grip, L. Imsland, T. A. Johansen, J. C. Kalkkuhl, and A. Suissa, “Estimation of road inclination and bank angle in automotive vehicles,” in Proc. American Control Conference, St. Louis, MO, 2009, pp. 426–432. [PDF]
H. F. Grip, T. A. Johansen, and L. Imsland, “Estimation and control for systems with nonlinearly parameterized perturbations,” in Proc. IFAC World Congress, Seoul, South Korea, 2008, pp. 11178–11183. [PDF]
L. Imsland, H. F. Grip, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl, and A. Suissa, “Nonlinear observer for vehicle velocity with friction and road bank angle adaptation—validation and comparison with an extended Kalman filter,” in Proc. SAE World Congress, Detroit, MI, 2007, paper no. 2007-01-0808. [SAE]
H. F. Grip, L. Imsland, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl, and A. Suissa, “Nonlinear vehicle velocity observer with road-tire friction adaptation,” in Proc. IEEE Conference on Decision and Control, San Diego, CA, 2006, pp. 3603–3608. [PDF]
Book Chapters
L. Imsland, H. F. Grip, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl, and A. Suissa, “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, A.C. Alkidas and D.C. Siegla, Eds., SAE International, 2008, pp. 722–734.
Magazine Articles
H. F. Grip, L. Imsland, T. A. Johansen, and T. I. Fossen, “Hvor fort går det?” Automatisering & Industridata, vol. 16, no. 2, and AMNYTT Magazine, no. 2, 2007.
Workshop Presentations
H. F. Grip, “Estimering av sideslippvinkel i biler,” 2009, Servomøtet, Trondheim, Norway.
L. Imsland, H. F. Grip, C. Böhm, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl, and A. Suissa, “Nonlinear observer for vehicle lateral velocity,” 2006, HYCON & CEmACS Workshop on Automotive Systems and Control, Lund, Sweden.
PhD Dissertation
H. F. Grip, “Topics in State and Parameter Estimation for Nonlinear and Uncertain Systems,” PhD dissertation, NTNU, Trondheim, Norway, 2010. [NTNU University Library]
MSc Thesis
H. F. Grip, “Nonlinear vehicle velocity observer with road-tire friction adaptation,” MSc thesis, NTNU, Trondheim, Norway, 2006. Received award for best MSc thesis in 2006 from the Norwegian Society of Automatic Control (NFA).
