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Håvard Grip

Address:

4800 Oak Grove Dr.
M/S 198-219

Pasadena, CA 91109

Phone:

(818) 393-1488

Fax:

(818) 393-5007

Håvard Fjær Grip

Research Technologist

Biography

Håvard Fjær Grip is a Research Technologist in the Robotic Controls and Estimation Group. His specialties include nonlinear control and observer design, decentralized control, navigation, and vehicle state estimation. He received his MSc and PhD degrees in Engineering Cybernetics (Control Engineering) from the Norwegian University of Science and Technology in 2006 and 2010, respectively. He has previously worked for SINTEF ICT, Applied Cybernetics, on automotive control and estimation applications, including a contract project for Daimler Group Research & Advanced Engineering in 2007-2008. From 2010 to 2012 he conducted an independent research project at Washington State University, financed by a personal postdoctoral grant from the Research Council of Norway.

Education

PhD, Engineering Cybernetics, Norwegian University of Science and Technology, 2010
MSc, Engineering Cybernetics, Norwegian University of Science and Technology, 2006

Professional Experience

Since 2013: Research Technologist, Robotic Controls and Estimation Group, JPL
Since 2012: Adjunct Associate Professor, Department of Engineering Cybernetics, Norwegian University of Science and Technology
Since 2010: Adjunct Assistant Professor, School of Electrical Engineering and Computer Science, Washington State University
2010 - 2012: Conducted an independent research project at the School of Electrical Engineering and Computer Science, Washington State University (as Adjunct Assistant Professor), funded by a personal postdoctoral grant from the Research Council of Norway
2010: Postdoctoral Research Associate, School of Electrical Engineering and Computer Science, Washington State University
2007-2008: Contract project at Daimler Group Research & Advanced Engineering, while employed as a Scientific Researcher at SINTEF ICT, Applied Cybernetics
2006-2010: Doctoral Research Fellow, Department of Engineering Cybernetics, Norwegian University of Science and Technology

Research Interests

Nonlinear control and observer design
Navigation and vehicle state estimation
Decentralized control of heterogeneous systems (synchronization, formation)
Structurally based design techniques for stability and robustness of nonlinear systems

Publications

2015
  1. M. Zhang, A. Saberi, A. A. Stoorvogel, and H. F. Grip, "Almost output synchronization for heterogeneous networks of non-introspective, nonlinear agents without exchange of controller states," Proc. IEEE Conference on Decision and Control, 09 August 2015.
  2. B. Wilcox, M. San Martin, L. Giersch, S. Howe, H. F. Grip, R. Nayeri, T. Litwin, J. Carlson, M. Shekels, A. Jain, C. Lim, S. Myint, J. Dunkle, A. Sirota, C. Fuller, "Testbed for studying the capture of a small, free-flying asteroid in space," Space 2015 Conference, 01 August 2015.
  3. M. Ono, G. Droge, H. Grip, O. Toupet, C. Scrapper, and A. Rahmani, "Road-Following Formation Control of Autonomous Ground Vehicles," 54th IEEE Conference on Decision and Control, 01 January 2015.
1905
  1. M. Zhang, A. Saberi, H. F. Grip, and A. A. Stoorvogel, "<i>H<sub>&infin;</sub></i> almost output synchronization for heterogeneous networks without exchange of controller states," IEEE Transactions on Network Systems (accepted), 07 July 1905.
  2. H. F. Grip, T. I. Fossen, T. A. Johansen, and A. Saberi, "Globally exponentially stable attitude and gyro bias estimation with application to GNSS/INS integration," Automatica, vol. 51, pp. 158-166, 07 July 1905.
  3. H. F. Grip, M. San Martin, A. Jain, B. Balaram, J. Cameron, and S. Myint, "Modeling and Simulation of Asteroid Capture Using a Deformable Membrane Capture Device," Proc. ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, 07 July 1905.
  4. 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, vol. 24, no. 3, pp. 548–566, 06 July 1905.
  5. 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, vol. 24, no. 6, Special Issue on High Gain Observers and Nonlinear Output Feedback Control, pp. 1016-1042, 06 July 1905.
  6. T. Yang, A. Saberi, A. A. Stoorvogel, and H. F. Grip, "Output synchronization for heterogeneous networks of introspective right-invertible agents," International Journal of Robust and Nonlinear Control, vol. 24, no. 13, pp. 1821-1844, 06 July 1905.
  7. E. Peymani, H. F. Grip, and A. Saberi, "Homogeneous networks of non-introspective agents under external disturbances – <it>H<sub>&infin;</sub></it> almost synchronization," Automatica (to appear), 06 July 1905.
  8. E. Peymani, H. F. Grip, A. Saberi, X. Wang, and T. I. Fossen, "<it>H<sub>&infin;</sub><it> almost output synchronization for heterogeneous networks of introspective agents under external disturbances," Automatica, vol. 50, no. 4, pp. 1026-1036, 06 July 1905.
  9. A. A. Stoorvogel, M. Zhang, A. Saberi, and H. F. Grip, "Synchronization in networks of weakly-non-minimum-phase, non-introspective agents without exchange of controller states," Proc. American Control Conference, Portland, OR, 06 July 1905.
  10. T. Yang, H. F. Grip, A. Saberi, M. Zhang, and A. A. Stoorvogel, "Synchronization in networks of minimum-phase, right-invertible, non-introspective agents without exchange of controller states under switching topology: Homogeneous and heterogeneous," Proc. American Control Conference, Portland, OR, 06 July 1905.
  11. H. F. Grip, A. Saberi, and A. A. Stoorvogel, "Synchronization in networks of nonlinear, non-introspective, minimum-phase agents without exchange of controller states," Proc. American Control Conference, Portland, OR, 06 July 1905.
  12. H. F. Grip, M. Ono, J. Balaram, J. Cameron, A. Jain, C. Kuo, S. Myint, M. Quadrelli, "Modeling and Simulation of Asteroid Retrieval Using a Flexible Capture Mechanism," Proc. IEEE Aerospace Conf., Big Sky, MT, 06 July 1905.
  13. H. F. Grip, A. Saberi, and A. A. Stoorvogel, "Synchronization in networks of minimum-phase, non-introspective agents without exchange of controller states: homogeneous, heterogeneous, and nonlinear," Automatica (to appear), 06 July 1905.
  14. M. Zhang, A. Saberi, H. F. Grip, and A. A. Stoorvogel, "<it>H<sub></sub>&infin;</it> almost output synchronization for heterogeneous networks in the presence of external disturbances without exchange of controller states," Proc. IEEE Conference on Decision and Control, 06 July 1905.
  15. 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, 05 July 1905.
  16. H. F. Grip, A. Saberi, T. Yang, and A. A. Stoorvogel, "Output synchronization for heterogeneous networks of non-introspective, non-right-invertible agents," Proc. American Control Conference, Washington, DC, pp. 5791-5796, 05 July 1905.
  17. E. Peymani, H. F. Grip, A. Saberi, X. Wang, and T. I. Fossen, "<i>H<sub>&infin;</sub></i> almost synchronization for non-identical introspective multi-agent systems under external disturbances," Proc. American Control Conference, Washington, DC, pp. 3808-3813, 05 July 1905.
  18. H. F. Grip, T. I. Fossen, T. A. Johansen, and A. Saberi, "Nonlinear observer for GNSS-aided inertial navigation with quaternion-based attitude estimation," Proc. American Control Conference, Washington, DC, pp. 272-279, 05 July 1905.
  19. H. F. Grip, A, Saberi, and A. A. Stoorvogel, "Regulated output synchronization for heterogeneous networks of non-introspective, minimum-phase SISO agents without exchange of controller states," Proc. European Control Conference, Zurich, Switzerland, pp. 3827-3832, 05 July 1905.
  20. E. Peymani, H. F. Grip, Ali Saberi, Xu Wang, and Thor I. Fossen, "<i>H<sub>&infin;</sub></i> almost regulated synchronization and <i>H<sub>&infin;</sub></i> almost formation for heterogeneous networks under external disturbances," Proc. European Control Conference, Zurich, Switzerland, pp. 1890-1895, 05 July 1905.
  21. H. F. Grip, A. Saberi, and A. A. Stoorvogel, "On the existence of virtual exosystems for synchronized linear networks," Automatica, vol. 49, no. 10, pp. 3145-3148, 05 July 1905.
  22. J. Cameron, S. Myint, C. Kuo, A. Jain, H. F. Grip, P. Jayakumar, and J. Overholt, "Real-time and high-fidelity simulation environment for autonomous ground vehicle dynamics," NDIA Ground Vehicle Systems Engineering and Technology Symposium, Troy, MI, 05 July 1905.
  23. X. Wang, A. Saberi, A. A. Stoorvogel, H. F. Grip, and T. Yang, "Synchronization for homogeneous networks of non- introspective non-right-invertible agents with uniform constant communication delay," Proc. IEEE Conference on Decision and Control, Florence, Italy, pp. 7351-7357, 05 July 1905.
  24. X. Wang, A. Saberi, A. A. Stoorvogel, H. F. Grip, and T. Yang, "Synchronization for heterogeneous networks of introspective right-invertible agents with uniform constant communication delay," Proc. IEEE Conference on Decision and Control, Florence, Italy, pp. 5198-5203, 05 July 1905.
  25. E. Peymani, H. F. Grip, A. Saberi, and T. I. Fossen, "<it>H<sub>&infin;</sub></it> almost synchronization for homogeneous networks of non-introspective SISO agents under external disturbances," Proc. IEEE Conference on Decision and Control, Florence, Italy, pp. 4012-4017, 05 July 1905.
  26. 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, 04 July 1905.
  27. 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, 04 July 1905.
  28. H. F. Grip, A. Saberi, and T. A. Johansen, "Observers for interconnected nonlinear and linear systems," Automatica, vol. 48, no. 7, pp. 1339–1346, 04 July 1905.
  29. 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, 04 July 1905.
  30. 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, 04 July 1905.
  31. 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, 04 July 1905.
  32. X. Wang, A. Saberi, A. A. Storvogel, H. F. Grip, and T. Yang, "Consensus in the network with uniform constant communication delay," Proc. IEEE Conference on Decision and Control, Maui, HI, pp. 3252-3257, 04 July 1905.
  33. 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," Proc. American Control Conference, Montreal, Canada, pp. 2337–2342, 04 July 1905.
  34. 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," Proc. American Control Conference, Montreal, Canada, pp. 2319–2324, 04 July 1905.
  35. 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," Proc. American Control Conference, Montreal, Canada, pp. 2313–2318, 04 July 1905.
  36. H. F. Grip, T. Yang, A. Saberi, and A. A. Stoorvogel, "Decentralized control for output synchronization in heterogeneous networks of non-introspective agents," Proc. American Control Conference, Montreal, Canada, pp. 812–819, 04 July 1905.
  37. 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," Proc. American Control Conference, Montreal, Canada, pp. 4607–4612, 04 July 1905.
  38. 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," Proc. IEEE Conference on Decision and Control, Maui, HI, pp. 5298-5303, 04 July 1905.
  39. 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, 03 July 1905.
  40. 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, 03 July 1905.
  41. X. Wang, H. F. Grip, A. Saberi, A. A. Stoorvogel, and I. Saberi, "Remarks on the relationship between <i>L<sub>p</sub></i> stability and internal stability of nonlinear systems," Proc. American Control Conference, San Francisco, CA, pp. 1969–1970, 03 July 1905.
  42. H. F. Grip, A. Saberi, and T. A. Johansen, "State and parameter estimation for nonlinearly parameterized systems: An <i>H<sub>&infin;</sub></i>-based approach," Proc. IFAC World Congress, Milano, Italy, pp. 2997–3002, 03 July 1905.
  43. 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," Proc. IFAC World Congress, Milano, Italy, pp. 8497–8502, 03 July 1905.
  44. T. Yang, A. Saberi, A. A. Stoorvogel, and H. F. Grip, "Output consensus for networks of non-identical introspective agents," Proc. IEEE Conference on Decision and Control, Orlando, FL, 1286–1292, 03 July 1905.
  45. H. F. Grip, A. Saberi, and T. A. Johansen, "Observers for cascaded nonlinear and linear systems," Proc. IEEE Conference on Decision and Control, Orlando, FL, pp. 3331–3337, 03 July 1905.
  46. 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, 02 July 1905.
  47. 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, 02 July 1905.
  48. 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, 02 July 1905.
  49. H. F. Grip, A. Saberi, A. A. Stoorvogel, X. Wang, and S. Roy, "Semiglobal stabilization of sandwich systems by dynamic output feedback," Proc. American Control Conference, Baltimore, MD, pp. 4229–4234, 02 July 1905.
  50. 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," Proc. IEEE OCEANS Conference, Seattle, WA, 02 July 1905.
  51. H. F. Grip and A. Saberi, "High-gain observer design for domination of nonlinear perturbations: Transformation to a canonical form by dynamic output shaping," Proc. IEEE Conference on Decision and Control, Atlanta, GA, pp. 5043–5049, 02 July 1905.
  52. 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, 01 July 1905.
  53. H. F. Grip and A. Saberi, "Structural decomposition of linear multivariable systems using symbolic computations," Proc. Asian Control Conference, Hong Kong, China, pp. 1205–1210, 01 July 1905.
  54. H. F. Grip, L. Imsland, T. A. Johansen, J. C. Kalkkuhl, and A. Suissa, "Estimation of road inclination and bank angle in automotive vehicles," Proc. American Control Conference, St. Louis, MO, pp. 426–432, 01 July 1905.
  55. 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," Proc. IEEE Conference on Decision and Control, Shanghai, China, pp. 1417–1421, 01 July 1905.
  56. H. F. Grip, A. Saberi, and T. A. Johansen, "State and parameter estimation for linear systems with nonlinearly parameterized perturbations," Proc. IEEE Conference on Decision and Control, Shanghai, China, pp. 8218–8225, 01 July 1905.
  57. H. F. Grip and A. Saberi, "Observer design in the presence of periodic output disturbances by mixing of past and present output data," Proc. IEEE Conference on Decision and Control, Shanghai, China, pp. 6101–6106, 01 July 1905.
  58. 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, 30 June 1905.
  59. H. F. Grip, T. A. Johansen, and L. Imsland, "Estimation and control for systems with nonlinearly parameterized perturbations," Proc. IFAC World Congress, Seoul, South Korea, pp. 11178–11183, 30 June 1905.
  60. 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 road," International Journal of Control, vol. 80, no. 11, pp. 1741-1750, 29 June 1905.
  61. 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," Proc. SAE World Congress, Detroit, MI, paper no. 2007-01-0808, 29 June 1905.
  62. 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, pp. 2091-2103, 28 June 1905.
  63. 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," Proc. IEEE Conference on Decision and Control, San Diego, CA, pp. 3603–3608, 28 June 1905.