Publications, Tor Arne Johansen, NTNU

2010

Journal publications

• H. Langjord and T. A. Johansen, Dual-mode switched control of an electropneumatic clutch actuator, IEEE/ASME Trans. Mechatronics, accepted, 2010
• D. Sui, T. A. Johansen, L. Feng, Linear Moving Horizon Estimation With Pre-estimating Observer, IEEE Trans. Automatic Control, accepted, 2010
• S. M. Elgsæter, O. Slupphaug, T. A. Johansen, A structure approach to optimizing offshore oil and gas production with uncertain models, Computers and Chemical Engineering, accepted, 2010
• J. Tjønnås, T. A. Johansen, Stabilization of Automotive Vehicles using Active Steering and Adaptive Brake Control Allocation, IEEE Trans. Control Systems Technology, accepted, 2010
• H. F. Grip, T. A. Johansen, L. Imsland, G.-O. Kaasa, Parameter Estimation and Compensation in Systems with Nonlinearly Parameterized Perturbations, Automatica, Vol. 46, pp. 19-28, 2010

Conference publications

2009

Journal publications

• M. V. Ottermo, Ø. Stavdahl, T. A. Johansen, A Remote Palpation Instrument for Laparoscopic Surgery: Design and Performance, Minimally Invasive Therapy & Allied Technologies (MITAT), Vol. 18, No. 5, pp. 1-14, 2009 (printed version).
• H. F. Grip, L. Imsland, T. A. Johansen, J. C. Kalkkuhl, A. Suissa, Vehicle Sideslip Estimation – Design, implementation and experimental validation, IEEE Control Systems Magazine, Vol. 29, No. 5, pp. 36-52, 2009
• L. Pivano, T. A. Johansen, Ø. N. Smogeli, A Four-Quadrant Thrust Controller for Marine Propellers with Loss Estimation and Anti-Spin: Theory and Experiments, SNAME J. Marine Technology, Vol. 46, pp. 229-242, 2009
• T. A. Johansen, M. Hovd, The Department of Engineering Cybernetics at NTNU – from 1994 into the future, Modeling, Identification and Control, Vol. 30, pp.127-132, 2009
• J. Spjøtvold, E. C. Kerrigan, T. A. Johansen, D. Q. Mayne, Inf-Sup Control of Discontinuous Piecewise Affine Systems, International Journal of Robust and Nonlinear Control, Vol. 19, pp. 1471-1492, 2009
• A. Grancharova, T. A. Johansen, Computation, approximation and stability of explicit feedback min-max nonlinear model predictive control, Automatica, Vol. 45, pp. 1134-1143, 2009
• L. Pivano, T. A. Johansen, Ø. N. Smogeli, A Four-Quadrant Thrust Estimation Scheme for Marine Propellers: Theory and Experiments, IEEE Transactions on Control Systems Technology, Vol. 17, pp. 215-226, 2009 (printed version).

Book chapters

• T. Fossen, T. A. Johansen, T. Perez, A Survey of Control Allocation Methods for Underwater Vehicles. In "Intelligent Underwater Vehicles. I-Tech Education and Publishing, Vienna, 2009. <Open Access: http://books.i-techonline.com/>
• A. Grancharova, T. A. Johansen, Explicit Approximate Model Predictive Control of Constrained Nonlinear Systems with Quantized Inputs, In L. Magni, D. Raimondo, F. Allgower, editors, Assessment and Future Directions of Nonlinear Model Predictive Control. Springer Lecture Notes in Control and Information Sciences, Springer Verlag, 2009

Conference publications

• J. Spjøtvold, T. A. Johansen, Fault Tolerant Control Allocation for a Thruster-Controlled Floating Platform using Parametric Programming, IEEE Conf. Decision and Control, Shanghai, 2009
  
• H. F. Grip, A. Saberi, T. A. Johansen, Observer Design and Parameter Estimation for Linear Systems with Nonlinearly Parameterized Perturbations, IEEE Conf. Decision and Control, Shanghai, 2009
• L. Feng, C. R. Gutvik, T. A. Johansen, D. Sui, Barrier Function Nonlinear Optimization for Optimal Decompression of Divers, IEEE Conf. Decision and Control, Shanghai, 2009
• T. A. Johansen, A. J. Sørensen, Experiences with HIL simulator testing of power management systems, MTS Dynamic Positioning Conference, Houston, TX, 2009
• H. Langjord, T. A. Johansen, C. Bratli, Dual-mode switched control of an electropneumatic clutch actuator with input restrictions, European Control Conference, Budapest, 2009
• A. Grancharova, T. A. Johansen, Explicit Model Predictive Control of an Electropneumatic Clutch Actuator Using On/Off Valves and Pulse-width Modulation, European Control Conference, Budapest, 2009
• M. B. Alberding, J. Tjønnås, T. A. Johansen, Nonlinear Hierarchical Control Allocation for Vehicle Yaw Stabilization and Rollover Prevention, European Control Conference, Budapest, 2009
• A. Grancharova, T. A. Johansen, Approaches to Explicit Nonlinear Model Predictive Control with Reduced Partition Complexity, European Control Conference, Budapest, 2009
• H. F. Grip, L. Imsland, T. A. Johansen, J. C. Kalkkuhl, A. Suissa, Estimation of Road Inclination and Bank Angle in Automotive Vehicles, American Control Conference, St. Louis, 2009

2008

Journal publications

• J. Tjønnås, T. A. Johansen, Adaptive Control Allocation, Automatica, Vol. 44, pp. 2754-2766, 2008
• M. V. Ottermo, Ø. Stavdahl, T. A. Johansen, Design and Performance of a Prototype Tactile Shape Display for Minimally Invasive Surgery, Haptics-E Journal, 2008
• D. Radan, A. J. Sørensen, A. K. Ådnanes, T. A. Johansen, Reducing Power Load Fluctuations on Ships using Power Redistribution Control, SNAME J. Marine Technology, Vol. 45, pp. 162-174, 2008
• T. Poloni, T. A. Johansen, B. Rohal-Ilkiv, Modeling of Air-Fuel Ratio Dynamics of Gasoline Combustion Engine with ARX network, ASME J. Dynamic Systems Measuremeant Control, Vol. 130, November, 2008
• A. Grancharova, J. Kocijan, T. A. Johansen, Explicit stochastic predictive control of combustion plants based on Gaussian process models, Automatica, Vol. 44, pp. 1621-1631, 2008
• H. F. Grip, L. Imsland, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl, A. Suissa, Nonlinear vehicle side-slip estimation with friction adaptation, Automatica, Vol. 44, pp. 611-622, 2008
• J. Bakkeheim, T. A. Johansen, Ø. N. Smogeli, A. J. Sørensen, Lyapunov-based Integrator Resetting with Application to Marine Thruster Control, IEEE Transactions on Control Systems Technology, Vol. 16, pp. 908-917, 2008
• T. A. Johansen, T. P. Fuglseth, P. Tøndel, T. I. Fossen, Optimal constrained control allocation in marine surface vessels with rudders, Control Engineering Practise, Vol. 16,  pp. 457-464, 2008

Book chapters

• L. S. Imsland, H. F. Grip, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl, A. Suissa, Nonlinear Observer for Lateral Velocity with Friction and Road Bank Adaptation – Validation and Comparison with an Extended Kalman Filter, SAE 2007 Transactions Journal of Passenger Cars - Mechanical Systems , pp. 722-734, 2008 (ISBN 978-0-7680-1985-8)

Conference publications

• A. Grancharova, T. A. Johansen, Explicit Approximate Model Predictive Control of Constrained Nonlinear Systems with Quantized Inputs, International Workshop on Assessment and Future Directions of NMPC, Pavia, Italy, 2008 (revised ).
• A. Grancharova, T. A. Johansen, Explicit solution of regulation control problems for nonlinear systems with quantized inputs, Automatics and Information Conference, Sofia, 2008
• L. Pivano, J. Bakkeheim, T. A. Johansen, Ø. N. Smogeli, A Four-Quadrant Thrust Controller for Marine Propellers with Loss Estimation and Anti-Spin, IFAC World Congress, Seoul, South-Korea, 2008
• H. F. Grip, T. A. Johansen, L. Imsland, Estimation and Control for Systems with Nonlinearly Parameterized Perturbations, IFAC World Congress, Seoul, South-Korea, 2008
• H. Langjord, T. A. Johansen, S. R. Snare, C. Bratli, Estimation of electro-pneumatic clutch actuator load characteristics, IFAC World Congress, Seoul, South-Korea, 2008
• S. Elgsæter, O.Slupphaug, T. A. Johansen, Oil and Gas Production Optimization; Lost Potential due to Uncertainty, IFAC World Congress, Seoul, South-Korea, 2008
• H. Langjord, T. A. Johansen, J. P. Hespanha, Switched control of an electro-pneumatic clutch actuator using on/off valves, American Control Conference, Seattle, 2008
• S. Elgsæter, O.Slupphaug, T. A. Johansen, Production Optimization; System Identification and Uncertainty Estimation , Intelligent Energy Conference, Amsterdam, 2008, SPE 11218

2007

Journal publications

• H. P. Bieker, O. Slupphaug, T. A. Johansen, Real-Time Production Optimization of Oil and Gas Production Systems: A Technology Survey, SPE J. Production and Operations, pp. 382-391, vol. 22, 2007
• L. S. Imsland, H. F. Grip, T. A. Johansen, T. I. Fossen, On nonlinear unknown input observers – applied to lateral velocity vehicle velocity estimation on banked roads, Int. J. Control, pp. 1741-1750, Vol. 80, 2007
• J. Spjøtvold, P. Tøndel, T. A. Johansen, A continuous selection and unique polyhedral representation of solutions to convex multiparametric quadratic programs, J. Optimization Theory and Applications, Vol. 134, pp. 177-189, 2007
• T. A. Johansen, W. Jackson, R. Schreiber, P. Tøndel, Hardware Synthesis of Explicit Model Predictive Controllers, IEEE Transactions Control Systems Technology, vol. 15, pp. 191-197, 2007
• P. W. J. van de Ven, T. A. Johansen, A. J. Sørensen, C. Flanagan, D. Toal, Neural network augmented identification of underwater vehicle models, Control Engineering Practice, vol. 15, pp. 715-725, 2007

Book chapters

• L. S. Imsland, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl and A. Suissa, Vehicle Velocity Estimation using Nonlinear Observers, SAE 2006 Transactions – Journal of Passenger Cars – Mechanical Systems, pp. 1204-1213, 2007
• A. Grancharova, T. A. Johansen, P. Tøndel, Computational Aspects of Approximate Explicit Nonlinear Model Predictive Control, In L. Biegler F. Allgöwer and R. Findeisen, editors, Assessment and Future Directions of Nonlinear Model Predictive Control. Springer Lecture Notes in Control and Information Sciences, Springer Verlag, 2007

Conference publications

• S. Elgsæter, O.Slupphaug, T.A. Johansen, Challenges in Parameter Estimation of Models for Offshore Oil and Gas Production Optimization , International Petroleum Technology Conference, Dubai, 2007, IPTC 11728
• J. Tjønnås, T. A. Johansen, Optimizing Adaptive Control Allocation with Actuator Dynamics, CDC, New Orleans, 2007
• D. Radan, A. J. Sørensen, T. A. Johansen, Inertial control of marine engines and propellers, IFAC CAMS, Croatia, 2007
• E. Børhaug, L. Pivano, K. Y. Pettersen, T. A. Johansen, A model-based ocean current observer for 6-DOF underwater vehicles, IFAC CAMS, Croatia, 2007
• L. Pivano, L. L. Whitcomb, T. A. Johansen, T. I. Fossen, Preliminary simulation studies of a new four-quadrant propeller thrust controller applied to underwater vehicles, IFAC CAMS, Croatia, 2007
• J. Bakkeheim, L. Pivano, T. A. Johansen, Ø. N. Smogeli, Integrator reset anti-spin for marine thrusters operating in four-quadrants and extreme sea conditions, IFAC CAMS, Croatia, 2007
• M. Blanke, L. Pivano, T. A. Johansen, An efficient optimizing propeller speed control for ships in moderate seas - model experiments and simulation, IFAC CAMS, Croatia, 2007
• T. A. Johansen, A. J. Sørensen, O. J. Nordahl, O. Mo and T. I. Fossen. Experiences from Hardware-in-the-loop (HIL) Testing of Dynamic Positioning and Power Management Systems. OSV Singapore, 24-25 September 2007
• A. Grancharova, J. Kocijan, T. A. Johansen, Explicit approximate nonlinear predictive control based on neural network models, Automatics and Information, Sofia, Bulgaria, 2007
• T. Poloni, B. Rohal-Ilkiv, T. A. Johansen, Multiple ARX model-based air-fuel ratio predictive control for SI engines, 3rd IFAC Workshop on Advanced Fuzzy and Neural Control, Valenciennes, Franca, 2007
• J. Tjønnås, T. A. Johansen, On optimizing nonlinear adaptive control allocation with actuator dynamics, 7th IFAC Symposium on Nonlinear Control Systems, Pretoria, South Africa, 2007
• J. Spjøtvold, E. C. Kerrigan, S. V. Rakovic, D. Q. Mayne, T. A. Johansen, Constrained Optimal Control of Discontinuous Piecewise Affine Systems with Disturbances, European Control Conference, Kos, Greece, 2007
• A. Grancharova, J. Kocijan, T. A. Johansen, Explicit Stochastic Nonlinear Model Predictive Control Based on Gaussian Process Models, European Control Conference, Kos, Greece, 2007
• H. P. Bieker, O. Slupphaug, T. A. Johansen, Well Management under Uncertain Gas or Water Oil Ratios, SPE Digital Energy, Houston, SPE 106959, 2007
• L. Imsland, H. F. Grip, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl, A. Suissa, Nonlinear Observer for Lateral Velocity with Friction and Road Bank Adaptation – Validation and Comparison with an Extended Kalman Filter, SAE World Congress, Detroit, 2007
• H. Sande, T. A. Johansen, G.-O. Kaasa, S. R. Snare, C. Bratli, Switched backstepping control of an electropneumatic clutch actuator using on/off valves, American Control Conference, New York, 2007
• L. Pivano, T. A. Johansen, Ø. N. Smogeli, T. I. Fossen, Nonlinear Thrust Controller for Marine Propellers in Four-Quadrant Operations, American Control Conference, New York, 2007

2006

Journal publications

• M. V. Ottermo, M. Øvstedal, T. Langø, Ø. Stavdahl, Y. Yavuz, T. A. Johansen, R. Mårvik, The role of tactile feedback in laparoscopic surgery, Surgical Laparoscopy Endoscopy & Percutaneous Techniques, Vol. 16, pp. 390-400, 2006
• L. Imsland, T. A. Johansen, T. I. Fossen, H. F. Grip, J. C. Kalkkuhl, A. Suissa, Vehicle Velocity Estimation using Nonlinear Observers, Automatica, Vol. 42, pp. 2091-2103, 2006
• J. Spjøtvold, E. C. Kerrigan, C. N. Jones, P. Tøndel, T. A. Johansen, On the Facet-to-Facet Property of Solutions to Convex Parametric Quadratic Programs, Automatica, Vol. 42, pp. 2209-2204, 2006
• D. Sbarbaro, T. A. Johansen, Analysis of Artificial Neural Networks for Pattern Based Adaptive Control, IEEE Transactions on Neural Networks, vol. 17, pp. 1184-1193, 2006. (printed version).
• J. Bakkeheim and T. A. Johansen, Transient performance, resetting and filtering in nonlinear multiple model adaptive control, IEE Proceedings D, Control Theory and Applications, Vol. 153, pp. 536-545, 2006. (printed version)

Conference publications

• L. Pivano, Ø. N. Smogeli, T. A. Johansen, T. I. Fossen, Marine Propeller Thrust Estimation in Four-Quadrant Operations, IEEE Conf. Decision and Control, San Diego, 2006
• J. Bakkeheim, Ø. N. Smogeli, T. A. Johansen, A. J. Sørensen, Improved Transient Performance by Lyapunov-based Integrator Reset of PI Thruster Control in Extreme Seas, IEEE Conf. Decision and Control, San Diego, 2006
• J. Tjønnås, A. Chaillet, E. V. Panteley, T. A. Johansen, Cascaded lemma for set-stable systems, IEEE Conf. Decision and Control, San Diego, 2006
• A. Grancharova, T. A. Johansen, Explicit approximate approach to feedback min-max model predictive control of constrained nonlinear systems, IEEE Conf. Decision and Control, San Diego, 2006
• H. F. Grip, L. S. Imsland, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl and A. Suissa, Nonlinear Vehicle Velocity Observer with Road-Tire Friction Adaptation, IEEE Conf. Decision and Control, San Diego, 2006
• J. Spjøtvold, S. V. Rakovic, P. Tøndel, T. A. Johansen, Utilizing Reachability Analysis in Point Location Problems, IEEE Conf. Decision and Control, San Diego, 2006
• L. Pivano, Ø. N. Smogeli, T. A. Johansen, T. I. Fossen, Experimental Validation of a Marine Propeller Thrust Estimation Scheme, IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, 2006
• H. P. Bieker, O. Slupphaug, T. A. Johansen, Global Optimization of Multiphase Flow Networks in Oil andor Gas Production Systems, AIChE Annual Meeting, San Francisco, 2006
• H. P. Bieker, O. Slupphaug, T. A. Johansen, Optimal Well-Test Strategy for Production Optimization: A Monte Carlo Simulation Approach, SPE Eastern Regional Meeting, Canton, OH, USA, SPE-104535, 2006
• M. V. Ottermo, Ø. Stavdahl, T. A. Johansen, A Remote Palpation Instrument for Laparoscopic Surgery: Design and Performance, Biomedical Engineering Society Annual Meeting, Chicago, 2006
• D. Radan, A. J. Sørensen, T. A. Johansen, A. K. Ådnanes, Probability based generator commitment optimization in ship power system design, WSEAS Conference at Athens, Greece, 2006
• E. S. Idsø, B. A. Saunders, L. Duffell, T. A. Johansen, K. J. Hunt, Quantitative assessment of force distribution for FES cycling, 11th Annual Conference of the International FES Society, Zao, Japan, 2006
• L. Imsland, H. F. Grip, C. Bohm, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl, A. Suissa, Nonlinear observer for vehicle lateral velocity, Workshop on Automotive Systems and Control, Lund, 2006
• J. Tjønnås, T. A. Johansen, Adaptive Optimizing Dynamic Control Allocation Algorithm for Yaw Stabilization of an Automotive Vehicle using Brakes, 14th Mediterranean Conference on Control and Automation, Ancona, 2006
• T. I. Fossen and T. A. Johansen, A Survey of Control Allocation Methods for Ships and Underwater Vehicles, 14th Mediterranean Conference on Control and Automation, Ancona, 2006
• A. Grancharova, T. A. Johansen and P. Tøndel, Input-to-state stability of constrained approximate explicit model predictive control with uncertainty, IFAC Workshop on Nonlinear Model Predictive Control for Fast Systems, Grenoble, 2006
• J. Spjøtvold, E. C. Kerrigan, C. N. Jones, P. Tøndel, T. A. Johansen, The Facet-to-Facet Property of Solutions to Convex Parametric Quadratic Programs and a new Exploration Strategy, 17th International Symposium on Mathematical Theory of Networks and Systems, Kyoto, Japan, 2006
• J. Spjøtvold, P. Tøndel, T. A. Johansen, Decomposing Linear Control Allocation Problems, 17th International Symposium on Mathematical Theory of Networks and Systems, Kyoto, Japan, 2006
• T. A. Johansen, W. Jackson, R. Schreiber, P. Tøndel, Hardware Architecture Design for Explicit Model Predictive Control, American Control Conference, Minneapolis, 2006
• L. S. Imsland, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl and A. Suissa, Nonlinear Observers for Vehicle Velocity Estimation, SAE World Congress, Detroit, 2006
• L. Pivano, T. I. Fossen and T. A. Johansen, Nonlinear model identification of a marine propeller over four-quadrant operations, IFAC Symposium on System Identification, Newcastle, Australia, 2006
• P. van de Ven, J. Refsnes, T. A. Johansen, C. Flanagan, and D. Toal, Identification of Minesniper’s damping parameters using neural networks, IFAC Symposium on System Identification, Newcastle, Australia, 2006
• H. P. Bieker, O. Slupphaug and T.A. Johansen, Real Time Production Optimization of Offshore Hydrocarbon Production Plants: Technology Survey, SPE 99446-PP, SPE Digital Energy Conference and Exhibition, Amsterdam, 2006

2005

Journal publications

• D. Radan, T. A. Johansen, A. J. Sørensen, A. K. Ådnanes, Optimization of Load Dependent Start Tables in Marine Power Management Systems with Blackout Prevention, WSEAS Trans. Circuits and Systems, Issue 12, Vol. 4, December 2005
• T. A. Johansen, and D. Sbarbaro, Lyapunov-based optimizing control of nonlinear blending processes, IEEE Transactions Control Systems Technology, Vol. 13, pp. 631-638, 2005
• T. A. Johansen, T. I. Fossen, P. Tøndel, Efficient Optimal Constrained Control Allocation via Multi-Parametric Programming, AIAA J. Guidance, Control and Dynamics, Vol. 28, pp. 506-515, 2005

Book chapters

• A. Grancharova and T. A. Johansen, "Survey of explicit approaches to constrained optimal control", in "Switching and Learning in Feedback Systems", R. Shorten and R. Murray-Smith, LNCS 3355, Springer Verlag, 2005

Conference publications

• L. S. Imsland, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl and A. Suissa, Vehicle Velocity Estimation using Modular Nonlinear Observers, IEEE Conf. Decision and Control / European Control Conference, Sevilla, Spain, 2005
• J. Hansen, R. Murray-Smith and T. A. Johansen, Nonparametric Identification of Linearizations and Uncertainty using Gaussian Process Models - Application to Robust Wheel Slip Control, IEEE Conf. Decision and Control / European Control Conference, Sevilla, Spain, 2005
• T. A. Johansen, T. I. Fossen, B. Vik, Hardware-in-the-loop testing of DP systems, Dynamic Positioning Conference, Houston, Texas, 2005
• D. Radan, T. A. Johansen, A. J. Sørensen, A. K. Ådnanes, Optimization of load-dependent start tables in marine power management systems with blackout prevention, 2nd WSEAS / IASME Int. Conf. Electroscience and Technology for Naval Engineering and All-Electric Ship, Miami, FL, 2005
• A. Grancharova, T. A. Johansen, and P. Tøndel, Computational aspects of approximate explicit model predictive control, International workshop on Assessment and Future Directions of Nonlinear Model Predictive Control, Freudenstadt-Lauterbad, Germany, 2005
• J. Tjønnås, T. A. Johansen, Optimizing Nonlinear Adaptive Control Allocation, IFAC World Congress, Prague, 2005
• A. Grancharova and T. A. Johansen, Explicit min-max model predictive control of constrained nonlinear systems with model uncertainty, IFAC World Congress, Prague, 2005
• J. Spjøtvold, P. Tøndel, and T. A. Johansen, A Method for Obtaining Continuous Solutions to Multiparametric Linear Programs, IFAC World Congress, Prague, 2005
• J. Spjøtvold, P. Tøndel, and T. A. Johansen, Uniqueness of a Polyhedral Representation to a Continuous Selection for Convex Multiparamtric Quadratic Problems, American Control Conference, Portland, 2005
• P. Tøndel, and T. A. Johansen, Control allocation for Yaw Stabilization in Automotive Vehicles using Multiparametric Nonlinear Programming, American Control Conference, Portland, 2005
• M. V. Ottermo, Ø. Stavdahl, and T. A. Johansen, Electromechanical design of a miniature tactile shape display for minimally invasive surgery, World Haptics Conference, Pisa, Italy, 2005

2004

Journal publications

• A. Grancharova, T. A. Johansen and J. Kocijan, Explicit model predictive control of gas-liquid separation plant, Computers and Chemical Engineering, Vol. 28, pp. 2481-2491, 2004
• A. Grancharova, T. A. Johansen, Explicit approaches to constrained model predictive control: A survey, Modeling, Identification and Control, Vol. 25, pp. 131-158, 2004
• T. A. Johansen, Approximate Explicit Receding Horizon Control of Constrained Nonlinear Systems, Automatica, Vol. 40, pp. 293-300, 2004
• T. A. Johansen, T. I. Fossen, Svein P. Berge, Constrained Nonlinear Control Allocation with Singularity Avoidance using Sequential Quadratic Programming, IEEE Trans. Control Systems Technology, Vol. 12, pp. 211-216, 2004
• K. Maertens, T. A. Johansen, R. Babuska, Engine load prediction in off-road vehicles using multi-objective nonlinear identification, Control Engineering Practice, Vol. 12, pp. 615-624, 2004

Conference publications

• T. A. Johansen, Optimizing nonlinear control allocation, IEEE Conf. Decision and Control, Nassau, Bahamas, pp. 3435-3440, 2004
• Ø. Smogeli, J. Hansen, A. Sørensen, T. A. Johansen, Anti-spin control for marine propulsion systems, IEEE Conf. Decision and Control, Nassau, Bahamas, pp. 5348- 5353, 2004
• M. V. Ottermo, Ø. Stavdahl, and T. A. Johansen, Palpation Instrument for Augmented Minimally Invasive Surgery, IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, 2004
• E. S. Idsø, T. A. Johansen, K. J. Hunt, Finding the metabolically energy-optimal pattern for FES-cycling, 9th Annual Conference of the Int. FES Society, Bournemouth, UK, 2004
• A. Ross, T. I. Fossen, and T. A. Johansen, Identification of underwater vehicle hydrodynamic coefficients using free decay tests, IFAC Conference on Control Applications in Marine Systems, Ancona, Italy, 2004
• P. W. J. van der Veen, T. A. Johansen, A. J. Sørensen, C. Flanagan, D. Toal, Neural network augmented identification of underwater vehicle models, IFAC Symposium on Control Applications in Marine Systems, Ancona, Italy, 2004
• J. Hansen and T. A. Johansen, Transient performance, resetting and filtering in nonlinear multiple model adaptive control, American Control Conference, Boston, 2004

2003

Journal publications

• T. A. Johansen, T. I. Fossen, S. I. Sagatun, F. G. Nielsen, Wave synchronizing crane control during water entry in offshore moonpool operations - experimental results, J. Oceanic Engineering, Vol. 29, pp.720-728, 2003 (printed version).
• T. A. Johansen, I. Petersen, J. Kalkkuhl, J. Ludemann, Gain-scheduled wheel slip control in automotive brake systems, IEEE Trans. Control Systems Technology, Vol. 11, pp. 799-811, 2003 (printed version)
• T. A. Johansen, O.  Egeland, E. A. Johannessen, R. Kvamsdal, Dynamics and control of a free-piston diesel engine, ASME J. Dynamic Systems, Measurement and Control, Vol. 125, pp. 468-574, 2003
• T. A. Johansen, R. Babuska, Multi-objective identification of Takagi-Sugeno Fuzzy Models, IEEE Trans. Fuzzy Systems, Vol. 11, pp. 847-860, 2003 (printed version)
• T. A. Johansen and A. Grancharova, Approximate explicit constrained linear model predictive control via orthogonal search tree, IEEE Trans. Automatic Control, Vol. 48, pp. 810-815, 2003 (printed version)
• T. A. Johansen, Reduced Explicit Constrained Linear Quadratic Regulators, IEEE Trans. Automatic Control, Vol. 48, pp. 823-828, 2003 (printed version)
• P. Tøndel, T. A. Johansen and A. Bemporad, An algorithm for multi-parametric quadratic programming and explicit MPC solutions, Automatica, Vol. 39, pp. 489-497, 2003
• P. Tøndel, T. A. Johansen and A. Bemporad, Evaluation of Piecewise Affine Control via Binary Search Tree, Automatica, Vol. 39, pp. 743-749, 2003

Book chapters

• J. Kalkkuhl and T. A. Johansen and J. Ludemann, "Nonlinear adaptive backstepping with estimator resetting using multiple observers", in "Nonlinear and Hybrid Systems in Automotive Control", R. Johansson and A. Rantzer (Eds.), ISBN 1-85233-652-8, Springer Verlag 2003
• Idar Petersen , T. A. Johansen, J. Kalkkuhl and J. Ludemann, "Wheel slip control in ABS using gain scheduled LQR", in “Nonlinear and Hybrid Systems in Automotive Control”, R. Johansson and A. Rantzer (Eds.), ISBN 1-85233-652-8, Springer Verlag 2003

Conference publications

• P. Tøndel, T. A. Johansen and A. Bemporad, Further results on Multi-parametric quadratic programming, IEEE Conf. Decision and Control, Maui, Hawaii, 2003
• T. A. Johansen, T. P. Fuglseth, P. Tøndel, and T. I. Fossen, Optimal constrained control allocation in marine surface vessels with rudders, IFAC Conf. Manoeuvring and Control of Marine Craft, Girona, 2003
• T. A. Johansen, D. Sbarbaro, Optimizing control of over-actuated linear systems with nonlinear output maps via control Lyapunov functions, European Control Conference, Cambridge, 2003.
• A. Grancharova, T. A. Johansen and J. Kocijan, Explicit model predictive control of gas-liquid separation plant, European Control Conference, Cambridge, 2003
• A. Grancharova and T. A. Johansen, Design of robust explicit model predictive controller via orthogonal search tree partitioning, European Control Conference, Cambridge, 2003
• P. Tøndel and T. A. Johansen, Lateral vehicle stabilization using constrained optimal control, European Control Conference, Cambridge, 2003
• Idar Petersen , T. A. Johansen, J. Kalkkuhl and J. Ludemann, Wheel slip control using gain-schjeduled LQ - LPV/LMI analysis and experimental results, European Control Conference, Cambridge, 2003
• E. S. Idsø, T. A. Johansen, K. J. Hunt, A Simplified Nonlinear Biomechanical Model for FES-cycling, International Functional Electrical Stimulation Society Conference, Brisbane, Australia, 2003
• A. Grancharova, T. A. Johansen, J. Kocijan and D. Vrancic, Design of reduced dimension explicit model predictive controller for a gas-liquid separation plant, Eurocon Conference, Ljubljana, Slovenia, 2003
• A. Grancharova and T. A. Johansen, Reduced dimension approach to approximate explicit model predictive control, IFAC Conference on Control Systems Design, Bratislava, 2003

2002

Journal publications

• T. A. Johansen, I. Petersen and O. Slupphaug, Explicit Subopitmal Linear Quadratic Regulation with Input and State Constraints,  Automatica, Vol. 38, pp. 1099-1111, 2002
• T. A. Johansen and C. Storaa,  "Energy-Based Control of a Distributed Solar Collector Field", Automatica, Vol. 38, pp. 1191-1199, 2002
• J. Kalkkuhl, T. A. Johansen, J. Ludemann, Improved  transient performance of nonlinear adaptive backstepping using estimator  resetting based on multiple models, IEEE Trans. Automatic Control,  Vol. 47, pp. 136-140, Jan 2002
• T. A. Johansen, O.  Egeland, E. A. Johannessen, R. Kvamsdal, Free-Piston  Diesel Engine Timing and Control - Towards Electronic Cam- and Crankshaft,  IEEE  Trans. Control Systems Technology , Vol. 10, pp. 177-190, 2002

Conference publications

• P. Tøndel, T. A. Johansen and A. Bemporad, Computation and Approximation of Piecewise Affine Control via Binary Search Tree, IEEE Conf. Decision and Control, Las Vegas, NV, Vol. 3, pp. 3144-3149, 2002
• T. A. Johansen, Structured and Reduced Dimension Explicit Linear Quadratic Regulators for Systems with Constraints, IEEE Conf. Decision and Control, Las Vegas, NV, Vol. 4, pp. 3970-3975, 2002
• T. A. Johansen, On Multi-parametric Nonlinear Programming and Explicit Nonlinear Model Predictive Control, IEEE Conf. Decision and Control, Las Vegas, NV, Vol. 3, pp. 2768-2773, 2002
• S. I. Sagatun, T. A. Johansen, T. I. Fossen and F. G. Nielsen, Wave synchronizing crane control during water entry in offshore moonpool operations, IEEE Conf. Control Applications, Glasgow, 2002
• A. Grancharova and T. A. Johansen, Approximate Explicit Model Predictive Control Incorporating Heuristics, IEEE Conf. Computer Aided Control Design, Glasgow, Vol. 1, pp. 174-179, 2002
• P. Tøndel, T. A. Johansen, Complexity reduiction in explicit model predictive control, IFAC World Congress, Barcelona, 2002
• T. A. Johansen and A. Grancharova, Approximate explicit model predictive control implemented via orthogonal search tree partitioning, IFAC World Congress, Barcelona, 2002
• T. A. Johansen and R. Babuska, On multi-objective identification of Takagi-Sugeno fuzzy model parameters, IFAC World Congress, Barcelona, 2002

2001

Journal publications

• J. Vada, O. Slupphaug, T. A. Johansen and Bjarne A. Foss, Linear MPC with Optimal Prioritized Infeasibility Handling: Application, Computational Issues and Stability, Automatica, Vol. 37, pp. 1835-1843, 2001
• J. Vada, O. Slupphaug and T. A. Johansen, "Efficient Optimal Prioritized Infeasibility Handling in Model Predictive Control - a Parametric Preemptive Multi-objective Linear Programming Approach" , Journal Optimization Theory and Applications, May 2001

Conference publications

• P. Tøndel, T. A. Johansen and A. Bemporad, An algorithm for multi-parametric quadratic programming and explicit MPC solutions, IEEE Conf. Decision and Control, Orlando, Vol. 2, pp. 1199-1204, 2001
• Idar Petersen , T. A. Johansen, J. Kalkkuhl and J. Ludemann, Wheel slip control in ABS using gain scheduled constrained LQR, ECC 2001, Porto
• T. A. Johansen, O. Egeland, E. A. Johannessen, R. Kvamsdal, Free-Piston Diesel Engine Dynamics and Control, ACC 2001, Arlington
• T. A. Johansen, J. Kalkkuhl, J. Ludemann, Idar Petersen, Hybrid Control Strategies in ABS, ACC 2001, Arlington
• J. Kalkkuhl, T. A. Johansen, J. Ludemann, A. Queda, Nonlinear Adaptive Backstepping with Estimator Resetting using Multiple Observers, Workshop on Hybrid Systems, Computation and Control, Rome, 2001

2000

Journal publications

• T. A. Johansen, "Computation of Lyapunov Functions for Smooth Nonlinear Systems using Convex Optimization", Automatica, Vol. 36, pp. 1617-1626, 2000
• T. A. Johansen and  Olav Slupphaug, "Comments on "Stability issues on Takagi-Sugeno Fuzzy Model - Parametric Approach"", IEEE Trans. Fuzzy Systems , Vol. 8, p. 345, 2000
• T. A. Johansen, R. Shorten and R. Murray-Smith , "On the Interpretation and Identification of Takagi-Sugeno Fuzzy Models" , IEEE Trans. Fuzzy Systems, Vol. 8, pp. 297-313, 2000
• Tor A. Johansen, K. Hunt   and Idar Petersen, Gain scheduled control of a solar power plant, Control Engineering Practice, 2000
• K. Hunt, T. A. Johansen, J. Kalkkuhl, H. Fritz and Th. Gøttsche, "Nonlinear Speed Control for an Experimental Vehicle using a Generalized Gain Scheduling Approach", IEEE Transactions on Control Systems Technology, Vol. 8, pp. 381-395, 2000

Conference publications

• T. A. Johansen, Idar Petersen and O. Slupphaug, Explicit Subopitmal Linear Quadratic Regulation with Input and State Constraints" , CDC 2000, Sydney
• T. A. Johansen and K. J. Hunt, "A computational approach to approximate input/state feedback linearization" , CDC 2000, Sydney
• T. A. Johansen, "Computational Performance Analysis of Nonlinear Dynamic Systems using Semi-infinite Programming", CDC 2000, Sydney
• M. S. Branicky, T. A. Johansen, Idar Petersen, and E. Frazzoli, "Online Techniques for Behavioral Programming", IEEE CDC, Sydney, 2000
• T. A. Johansen, Multi-objective identification of FIR models, IFAC SYSID 2000, Santa Barbara, USA
• Ana Isabel Gonzalez Santos, Tor A Johansen, Jesus Ma Zamarreno Cosme, "Nonlinear Multiple Model Predictive Control in a Fed-batch Reactor" , IFAC Symposium on Artificial Intelligence in Real-time Control, Budapest, 2000
• J. Vada , O. Slupphaug, T. A. Johansen and B. A. Foss, Stabilizing Linear MPC with Efficient Prioritized Infeasibility Handling , IFAC ADCHEM 2000, Pisa, Italy.

Before 2000

Journal publications

• Tor A. Johansen and Erik Weyer, "On convergence proofs in system identification- Towards a general principle using ideas from Learning Theory", Systems and Control Letters, Vol. 34, pp. 85-92, 1998.
• Tor A. Johansen, Bjarne A. Foss, "ORBIT - Operating Regime Based Modeling and Identification Toolkit" , Control Engineering Practice, Vol. 6, pp. 1277-1286, 1998.
• T. A. Johansen, K. Hunt and H. Fritz, A Software Environment for Gain Scheduled Local Controller Network Design" , IEEE Control Systems Maganzine, pp. 48-60, April 1998.
• T. A. Johansen, K. Hunt , P. J. Gawthrop and H. Fritz, "Off-equilibrium linearisation and design of gain scheduled control with application to vehicle speed control, Control Engineering Practice, Vol. 6, pp 167-180, 1998.
• Tor A. Johansen, "On Tikhonov Regularization, Bias and Variance in Nonlinear System Identification" , Automatica, Vol. 33, pp. 441-446, 1997.
• Tor A. Johansen and Bjarne A. Foss, "Operating Regime Based Process Modeling and Identification", Computers and Chemical Engineering, Vol. 21, pp. 159-176, 1997.
• D. Sbarbaro and T. A. Johansen, "Multiple Local Laguerre Models for Modelling Nonlinear Dynamic Systems of the Wiener Class", Proc. IEE, Part D, 1997.
• Th. Gøttsche, K. J. Hunt and T. A. Johansen, "Nonlinear dynamics modelling via operating regime decomposition", IMACS Journal on Mathematics and Computers in Simulation, 1997.
• K. J. Hunt and T. A. Johansen, "Design and Analysis of Gain-Scheduled Control using Local Controller Networks", Int. J. Control, Vol. 66, pp. 619-651, 1997.
• Tor A. Johansen, "Identification of Non-linear Systems using Empirical Data and Prior Knowledge - An Optimization Approach", Automatica, Vol. 32, pp. 337-356, 1996.
• K. J. Hunt, J. C. Kalkkuhl, H. Fritz and T. A. Johansen, "Constructive Empirical Modelling of Longitudinal Vehicle Dynamics with Local Model Networks", Control Engineering Practice, Vol. 4, pp. 167-178, 1996.
• Tor A. Johansen and Petros A. Ioannou, "Robust Adaptive Control of Minimum phase Nonlinear Systems", Int. J. Adaptive Control and Signal Processing, 1996.
• Bjarne A. Foss, Tor A. Johansen and Aage V. Sørensen, "Nonlinear Predictive Control using Local Models - Applied to a Batch Fermentation Process", Control Engineering Practise, 1995.
• T. A. Johansen and Bjarne A. Foss, ``Identification of non-linear System Structure and Parameters using Regime Decomposition``, Automatica, Vol. 31, pp. 321-326, 1995.
• T. A. Johansen, ``Fuzzy Model Based Control. Stability, Robustness, and Peformance Issues``, IEEE Trans. on Fuzzy Systems, Vol. 2, pp. 221-234, 1994.
• T. A. Johansen and Bjarne A. Foss, ``Constructing NARMAX models using ARMAX models``, Int. J. Control, 58, pp. 1125-1153, 1993.
• T. A. Johansen and Bjarne A. Foss, ``A NARMAX Model Representation for Adaptive Control based on Local Models``, Modeling, Identification, and Control, 13, pp. 25-39, 1992.

Conference publications (since 1995)

• J. Vada , O. Slupphaug and T. A. Johansen, Efficient Infeasibility Handling in Linear MPC subject to Prioritized Constraints , European Control Conference 1999 (ECC'99), Karlsruhe, Germany.
• R. Murray-Smith , T. A. Johansen and R. Shorten "On Transient Dynamics, Off-equilibrium Behaviour and Identification in Blended Multiple Model Structures", European Control Conference 1999 (ECC'99), Karlsruhe, Germany.
• F. Martinsen , B. A. Foss and T. A. Johansen, "A control relevant dynamic model of grate sintering", IEEE Conf. Control Applications, Hawaii, 1999.
• T. A. Johansen, "Characterization of Lyapunov Functions for Smooth Nonlinear Systems using LMIs", IFAC World Congress, Beijing, July 1999.
• K. J. Hunt, J. Kalkkuhl, H. Fritz, Tor A. Johansen and Th. Goettsche, "Experimental Comparison of Nonlinear Control Strategies for Vehicle Speed Control", IEEE Conf. Control Applications, Trieste, 1998.
• Tor A. Johansen, "Constrained and Regularized System Identification", IFAC Symposium on System Identification, Fukuoka, July 1997.
• Tor A. Johansen, Bjarne A. Foss, "ORBIT - Operating Regime Based Modeling and Identification Toolkit" , IFAC Symposium on System Identification, Fukuoka, July 1997.
• Bjarne A. Foss and Tor A. Johansen, "Identification and Convexity in Optimizing Control", IFAC Symposium on System Identification, Fukuoka, July 1997.
• Tor A. Johansen, "Stability, Performance and Robustness of Fuzzy Model Based Control" , IEEE Conf. Decision and Control, Kobe, December 1996.
• Tor A. Johansen, "Robust Identification of Takagi-Sugeno-Kang Fuzzy Models using Regularization" , IEEE Conf. Fuzzy Systems, New Orleans, September 1996.
• Tor A. Johansen, "Weightled l2-norms for Analysis of an Adaptive Control Loop based on a Non-linear Model", Proc. 34th IEEE CDC, New Orleans, December 1995.
• Tor A. Johansen and Erik Weyer, "Structure Identification using Separate Validation Data - Asymptotic Properties ", Proc. European Control Conference, Rome, Vol. 1, pp. 833-838, September 1995.
• R. Murray-Smith and Tor A. Johansen, "Local Learning in Local Model Networks", Proc. IEE Int. Conf. Artificial Neural Networks, Cambridge, UK, pp. 40-46, June 1995.
• Tor A. Johansen, Bjarne A. Foss, "Empirical Modeling of a Heat Transfer Process using Local Models and Interpolation" ,Proc. American Control Conference, Seattle, WA, pp. 3654-3658, 1995.
• Tor A. Johansen, "On the Optimality of the Takagi-Sugeno-Kang Fuzzy Inference Mechanism" , Proceedings of the IEEE Conference on Fuzzy Systems, Yokohama, March 1995.

Books

• R. Murray-Smith and T. A. Johansen (Editors), "Multiple Model Appraoches to Modelling and Control", Taylor & Francis, London, 1997.

Book chapters

• T. A. Johansen, K. J. Hunt and P. J. Gawthrop , "Transient Performance, Robustness and Off-equilibrium Linearization in Fuzzy Gain Scheduled Control", in R. Palm, D. Driankov and H. Hellendoorn (Eds), ``Advances in Fuzzy Control", Physica-Verlag, 1997.
• R. Murray-Smith and T. A. Johansen, "Local Learning in Local Model Networks", in R. Murray-Smith and T. A. Johansen (Eds.), `'Multiple Model Appraoches to Modelling and Control'', Taylor & Francis, London, 1997.
• T. A. Johansen and R. Murray-Smith , "The Operating Regime Approach to Nonlinear Modelling and Control", in R. Murray-Smith and T. A. Johansen (Eds.), `'Multiple Model Appraoches to Modelling and Control'', Taylor & Francis, London, 1997.
• Tor A. Johansen and Marios M. Polycarpou, "Stable Adaptive Control of a General Class of Non-linear Systems", R. W. Zbikowski and K. J. Hunt (Eds.) Neural Adaptive Control Technology I, World Scientific, 1996.
• Tor A. Johansen and Bjarne A. Foss, "Semi-Empirical Modeling of Non-Linear Dynamic Systems through Identification of Operating Regimes and Local Models", in K. Hunt, G. Irwin, K. Warwick (Eds.) Neural Network Engineering in Dynamic Control Systems, Springer-Verlag, 1995.
• Bjarne A. Foss and T. A. Johansen, ``Local Modeling as a tool for semi- empirical and semi-mechanistic process modeling``, in ``Neural Networks for Chemical Engineers``, A. B. Bulsari (Ed), Elsevier, Amsterdam, pp. 297-334, 1995.

Dr.Ing. Thesis

Tor A. Johansen, "Operating Regime based Process Modeling and Identification", ITK-Report 94-109-W, Dr.Ing. Thesis. "Uncompressed version of thesis."