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Dr. Håvard Grip

Robotics Technologist

About

Bio

Dr. Håvard Grip is a Principal Engineer and Robotics Technologist at NASA's Jet Propulsion Laboratory. He was the Chief Pilot for NASA's Ingenuity Mars Helicopter as it achieved the first powered flight on another planet, and he led the development of Ingenuity's Aerodynamics & Flight Control system. He has served as Manager and Chief Engineer of multiple Mars rotorcraft development projects, and he has contributed to guidance, navigation, and control for spaceflight projects including Psyche and Mars Sample Return.

Dr. Grip's expertise spans modeling & simulation; guidance, navigation & control; flight software development; design, testing, V&V, and operations of planetary aerial vehicles; and technical leadership of complex development projects.

Education

Ph.D., Engineering Cybernetics, Norwegian University of Science and Technology, 2010

M.Sc., Engineering Cybernetics, Norwegian University of Science and Technology, 2006

Achievements

Awards & Recognitions

  • JPL Award | North Star Award for for excellence in leading Mars Chopper GNC breakthroughs that define flight on other worlds, advancing autonomous science mobility for future aerial missions (2025)
  • JPL Principal Designation | 343T - GNC Technical Staff (2024)
  • NASA Award | Exceptional Public Achievement Medal | For exceptional achievement as the Ingenuity Mars Helicopter Chief Pilot and Guidance, Navigation, and Controls Lead, charting the course for Ingenuity’s flight campaigns. (2023)
  • NASA Award | Early Career Public Achievement Medal | For advancing the state-of-the-art in guidance, navigation & control, enabling low-density helicopter flight for planetary exploration. (2019)
  • JPL Award | Charles Elachi Award for Outstanding Early Career Achievement, for outstanding contribution to the Mars Helicopter vehicle aerodynamics and flight control simula- tion platform, enabling its design and test. (2016)

Publications

Journal Papers
  1. C. Leake, H. F. Grip, V. Steyert, T. Hasseler, M. Cacan, and A. Jain, HeliCAT-DARTS: A High-Fidelity, Closed-Loop Rotorcraft Simulator for Planetary Exploration, Aerospace 11(9), 2024.
  2. D. Lorenz, S. Maurice, B. Chide, D. Mimoun, A. Stott, N. Murdoch, M. Giller, X. Jacob, R. C. Wiens, F. Montmessin, H. F. Grip, T. Tzanetos, B. Balaram, N. Williams, M. Keennon, S. Langberg, J. Tyler, T. Bertrand, A. Brown, N. Randazzo, B. Pipenberg. The sounds of a helicopter on Mars. Planetary and Space Science 230, 2023.
  3. S. Maurice, B. Chide, N. Murdoch, R. D. Lorenz, D. Mimoun, R. C. Wiens, A. Stott, X. Jacob, T. Bertrand, F. Montmessin, N. L. Lanza, C. Alvarez-Llamas, S. M. Angel, M. Aung, J. Balaram, O. Beyssac, A. Cousin, G. Delory, O. Forni, T. Fouchet, O. Gasnault, H. Grip, M. Hecht, J. Hoffman, J. Laserna, J. Lasue, J. Maki, J. McClean, P.-Y. Meslin, S. Le Mouélic, A. Munguira, C. E. Newman, J. A. Rodríguez Manfredi, J. Moros, A. Ollila, P. Pilleri, S. Schröder, M. de la Torre Juárez, T. Tzanetos, K. M. Stack, K. Farley, K. Williford and the SuperCam team. In situ recording of Mars soundscape. Nature 605:654–658, 2022.
  4. H. F. Grip, W. Johnson, C. Malpica, D. P. Scharf, M. Mandic, L. Young, B. Allan, B. Mettler, M. San Martin, and J. Lam. Modeling and identification of hover flight dynamics for NASA’s Mars Helicopter. Journal of Guidance, Control, and Dynamics 43(2):179–194, 2020.
  5. W. J. F. Koning, W. Johnson, and H. F. Grip. Improved Mars helicopter aerodynamic rotor model for comprehensive analyses. AIAA Journal 57(9):3969-3979, 2019.
  6. 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 54:246–255, 2015.
  7. M. Zhang, A. Saberi, H. F. Grip, and A. A. Stoorvogel. H∞ almost output synchronization for heterogeneous networks without exchange of controller states. IEEE Transactions on Network Systems 2(4):348–357, 2015.
  8. 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 51:158–166, 2015.
  9. E. Peymani, H. F. Grip, and A. Saberi. Homogeneous networks of non-introspective agents under external disturbances – H∞ almost synchronization, Automatica 52:363–372, 2015.
  10. E. Peymani, H. F. Grip, A. Saberi, X. Wang, and T. I. Fossen. H∞ almost output synchronization for heterogeneous networks of introspective agents under external disturbances. Automatica 50(4):1026–1036, 2014.
  11. 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 24(6):1016–1042, 2014.
  12. 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 24(13):1821–1844, 2014.
  13. 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 24(3):548–566, 2014.
  14. H. F. Grip, A. Saberi, and A. A. Stoorvogel. On the existence of virtual exosystems for synchronized linear networks. Automatica 49(10):3145–3148, 2013.
  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 23(2):229–240, 2013.
  16. X. Wang, H. F. Grip, A. Saberi, and A. A. Stoorvogel. Remarks on the relationship between Lp stability and internal stability of nonlinear systems. International Journal of Robust and Nonlinear Control 23(16):1822–1827, 2013.
  17. X. Wang, A. Saberi, A. A. Stoorvogel, H. F. Grip, and T. Yang. Consensus in the network with uniform constant communication delay. Automatica 49(8):2461–2467, 2013.
  18. H. F. Grip, T. Yang, A. Saberi, and A. A. Stoorvogel. Output synchronization for heterogeneous networks of nonintrospective agents. Automatica 48(10):2444–2453, 2012.
  19. 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 48(10):2633–2639, 2012.
  20. H. F. Grip, A. Saberi, and T. A. Johansen. Observers for interconnected nonlinear and linear systems. Automatica 48(7):1339–1346, 2012.
  21. 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 57(5):1332–1338, 2012.
  22. 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 48(2):430–435, 2012.
  23. X. Wang, A. Saberi, A. A. Stoorvogel, and H. F. Grip, Control of a chain of integrators subject to input saturation and disturbances. International Journal of Robust and Nonlinear Control 22(14):1562–1570, 2012.
  24. 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, 21(16): 1841–1864, 2011.
  25. H. F. Grip, A. Saberi, and T. A. Johansen, Estimation of states and parameters for linear systems with nonlinearly parameterized perturbations. Systems & Control Letters, 60(9): 771–777, 2011.
  26. H. F. Grip, A. Saberi, and X. Wang. Stabilization of multiple-input multiple-output linear systems with saturated outputs. IEEE Transactions on Automatic Control, 55(9):2160–2164, 2010.
  27. 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 55(9): 2156–2160, 2010.
  28. H. F. Grip and A. Saberi. Structural decomposition of linear multivariable systems using symbolic computations. International Journal of Control, 83(7): 1414–1426, 2010.
  29. H. F. Grip, T. A. Johansen, L. Imsland, and G.-O. Kaasa, Parameter estimation and compensation in systems with nonlinearly parameterized perturbations. Automatica 46(1): 19–28, 2010.
  30. 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, 29(5): 36–52, 2009.
  31. 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 44(3): 611–622, 2008.
  32. 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, 80(11): 1741–1750, 2007.
  33. L. Imsland, T. A. Johansen, T. I. Fossen, H. F. Grip, J. C. Kalkkuhl, and A. Suissa. Vehicle velocity estimation using nonlinear observers. Automatica 42(12): 2091–2103, 2006.
Book Chapters
  1. H. F. Grip, T. I. Fossen, T. A. Johansen, and A. Saberi, Nonlinear Observer for Attitude, Position, and Velocity: Theory and Experiments. In: H. Fourati and D. E. C. Belkhiat, editors, Multisensor Attitude Estimation: Fundamental Concepts and Applications, CRC Press, 2016.
  2. 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 A. C. Alkidas and D. C. Siegla, editors, SAE 2007 Transactions Journal of Passenger Cars: Mechanical Systems, pages 722–734. SAE International, 2008.
Conference Papers
  1. H. F. Grip et al., The Chopper Next-Generation Mars Rotorcraft: Scaling Ingenuity by a Factor 20, In: Proc. IEEE Aerospace Conf, Big Sky, MT, 2025.
  2. L. Jones-Wilson et al., Mars Sample Recovery Helicopter Aerial Mode Commander Design Using Executable Modes, In: Proc. IEEE Aerospace Conf, Big Sky, MT, 2025
  3. F. Mier-Hicks, H. F. Grip, A. Kalantari, S. Moreland, B. Pipenberg, M. Keennon, T. Canham, M. Pauken, E. Decrossas, T. Tzanetos, B. Balaram. Sample Recovery Helicopter. In: Proc. IEEE Aerospace Conf., Big Sky, MT, 2023.
  4. S. Withrow-Maser, W. Johnson, T. Tzanetos, H. .F. Grip, W. Koning, N. Schatzman, L. Young, A. Chan, A. Ruan, H. Cummings, B. Allan, C. Malpica, L. Meyn, B. Pipenberg, M. Keennon. Mars Sample Recovery Helicopter: Rotorcraft to Retrieve the First Samples from the Martian Surface. In: Proc. Vertical Flight Society 79th Annual Forum & Technology Display, West Palm Beach, FL, 2023.
  5. H. F. Grip, D. Conway, A. Johnson, C. C. Liebe, J. Delaune, S. W. Sirlin. Evolving the Ingenuity Aerial GN&C System for Mars Sample Recovery. In: Proc. AAS Annual Guidance, Navigation & Control Conference, Breckenridge, CO, 2023.
  6. H. F. Grip, D. Conway, J. Lam, N. Williams, M. Golombek, R. Brockers, M. Mischna. Flying a helicopter on Mars: How Ingenuity’s flights were planned, executed, and analyzed. In: Proc. IEEE Aerospace Conference, Big Sky, MT, 2022.
  7. J. Delaune, J. Izraelevitz, S. Sirlin, D. Sternberg, L. Giersch, L. P. Tosi, E. Skliyanskiy, L. Young, M. Mischna, S. Withrow-Maser, J. Mueller, J. Bowman, M. S. Wallace, H. F. Grip, L. Matthies, W. Johnson, M. Keennon, B. Pipenberg, H. Patel, C. Lim, A. Schutte, M. Veismann, H. Cummings, S. Conley, J. Bapst, T. Tzanetos, R. Brockers, A. Jain, D. Bayard, A. Chmielewski, O. Toupet, J. Burdick, M. Gharib, J. Balaram. Mid-air helicopter delivery at Mars using a jetpack. In: Proc. IEEE Aerospace Conference, Big Sky, MT, 2022.
  8. T. Tzanetos, B. Balaram, J. Karras, T. Canham, G. Kubiak, J. Anderson, G. Merewether, H. F. Grip. Ingenuity Mars Helicopter: from technology demonstration to extraterrestrial scout. In: Proc. IEEE Aerospace Conference, Big Sky, MT, 2022. Track 2 Best Paper.
  9. P. Lai, H. F. Grip, D. Eldred, J. S. Snyder, D. Trofimov, and A. Madni, Solar array pointing requirements development for the Psyche spacecraft. In: Proc. AAS/AIAA Astrodynamics Specialist Conference, 2020.
  10. H. F. Grip, Developing the guidance, navigation, and control system for NASA’s Mars Helicopter. In: Proc. AAS Annual Guidance & Control Conference, Breckenridge, CO, 2019.
  11. H. F. Grip, J. N. Lam, D. Bayard, D. T. Conway, G. Singh, R. Brockers, J. Delaune, L. Matthies, C. Malpica, T. Brown, A. Jain, M. San Martin, and G. Merewether, Flight control system for NASA’s Mars Helicopter. In: Proc. AIAA Scitech Forum and Exhibition, San Diego, CA, 2019.
  12. D. S. Bayard, D. T. Conway, R. Brockers, J. Delaune, L. Matthies, H. F. Grip, G. Merewether, T. Brown, A. M. San Martin, Vision-based navigation for the NASA Mars Helicopter. In: Proc. AIAA Guidance, Navigation, and Control Conference, San Diego, CA, 2019.
  13. B. T. Pipenberg, M. T. Keennon, J. D. Tyler, S. A. Langberg, B. Hibbs, B. Balaram, H. F. Grip, and J. Pempejian, Design and fabrication of the Mars Helicopter rotor, airframe, and landing gear systems. In: Proc. AIAA Scitech Forum and Exhibition, San Diego, CA, 2019.
  14. W. J. F. Koning, W. Johnson, and H. F. Grip, Improved Mars Helicopter aerodynamic rotor model for comprehensive analyses. In: Proc. European Rotorcraft Forum, Delft, the Netherlands, 2018. Received 2019 Velkoff Award for outstanding technical paper.
  15. H. F. Grip, D. Scharf, C. Malpica, W. Johnson, M, Mandic, G. Singh, and L. Young. Guidance and control for a Mars helicopter. In: Proc. AIAA Guidance, Navigation, and Control Conference, Kissimme, FL, 2018.
  16. B. Balaram, T. Canham, C. Duncan, M. Golombek, H. F. Grip, W. Johnson, J. Maki, A. Quon, R. Stern, and D. Zhu. Mars Helicopter Technology Demonstrator. In: Proc. AIAA Atmospheric Flight Mechanics Conference, Kissimmee, FL, 2018.
  17. H. F. Grip, W. Johnson, C. Malpica, D. P. Scharf, M. Mandic, L. Young, B. Allan, B. Mettler, M. San Martin. Flight dynamics of a Mars helicopter. In: Proc. European Rotorcraft Forum, Milan, Italy, 2017.
  18. 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. In: Proc. ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Boston, MA, 2015.
  19. 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. In: Proc. AIAA SPACE, Pasadena, CA, 2015.
  20. M. Ono, M. Quadrelli, G. Lantoine, P. Backes, A. L. Ortega, H. F. Grip, C.-W. Yen, D. Jewitt. The hitchhiker’s guide to the outer solar system. In: Proc. AIAA SPACE, Pasadena, CA, 2015.
  21. 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. In: Proc. IEEE Conference on Decision and Control, Osaka, Japan, 2015.
  22. M. Ono, G. N. Droge, A. Rahmani, H. F. Grip, O. Toupet, and C. Scrapper. Road-Following Formation Control of Autonomous Ground Vehicles. In: Proc. IEEE Conference on Decision and Control, Osaka, Japan, 2015.
  23. M. Zhang, A. Saberi, H. F. Grip, and A. A. Stoorvogel, H∞ almost output synchronization for heterogeneous networks in the presence of external disturbances without exchange of controller states. In: Proc. IEEE Conference on Decision and Control, Los Angeles, CA 2014.
  24. H. F. Grip, A. Saberi, and A. A. Stoorvogel. Synchronization in networks of nonlinear, non-introspective, minimum-phase agents without exchange of controller states. In: Proc. American Control Conference, Portland, OR, 2014.
  25. T. Yang, H. F. Grip, A. Saberi, M. Zhang, and A. A. Stoorvogel. Synchronization in time-varying networks of non-introspective agents without exchange of controller states. In: Proc. American Control Conference, Portland, OR, 2014.
  26. 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. In: Proc. American Control Conference, Portland, OR, 2014.
  27. H. F. Grip, M. Ono, J. Balaram, J. Cameron, A. Jain, C. Kuo, S. Myint, and M. Quadrelli, Modeling and simulation of asteroid retrieval using a flexible capture mechanism, In: Proc. IEEE Aerospace Conference, Big Sky, MT, 2014.
  28. E. Peymani, H. F. Grip, A. Saberi, and T. I. Fossen. H∞ almost synchronization for homogeneous networks of non-introspective SISO agents under external disturbances. In: Proc. IEEE Conference on Decision and Control, Florence, Italy, 2013.
  29. 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. In: Proc. IEEE Conference on Decision and Control, Florence, Italy, 2013.
  30. 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. In: Proc. IEEE Conference on Decision and Control, Florence, Italy, 2013.
  31. 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. In: Proc. 2013 NDIA Ground Vehicle Systems Engineering and Technology Symposium, Troy, MI, 2013.
  32. H. F. Grip, A. Saberi, T. Yang, and A. A. Stoorvogel. Output synchronization for heterogeneous networks of non-introspective, non-right-invertible agents. In: Proc. American Control Conference, Washington, DC, 2013.
  33. E. Peymani, H. F. Grip, A. Saberi, X. Wang, and T. I. Fossen, H∞ almost synchronization for non-identical introspective multi-agent systems under external disturbances. In: Proc. American Control Conference, Washington, DC, 2013.
  34. H. F. Grip, T. I. Fossen, T. A. Johansen, and A. Saberi, Nonlinear observer for GNSS-aided inertial navigation with quaternion-based attitude estimation. In: Proc. American Control Conference, Washington, DC, 2013.
  35. 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. In: Proc. European Control Conference, Zurich, Switzerland, 2013.
  36. E. Peymani, H. F. Grip, A. Saberi, X. Wang, and T. I. Fossen, H∞ almost regulated synchronization and H∞ almost formation for heterogeneous networks under external disturbances. In: Proc. European Control Conference, Zurich, Switzerland, 2013.
  37. 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.
  38. X. Wang, A. Saberi, A. A. Storvogel, H. F. Grip, and T. Yang. Consensus in the network with uniform constant communication delay. In: Proc. IEEE Conference on Decision and Control, Maui, HI, 2012.
  39. 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.
  40. 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.
  41. 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.
  42. 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.
  43. 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.
  44. 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.
  45. 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.
  46. 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.
  47. 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.
  48. 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.
  49. 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.
  50. 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.
  51. H. F. Grip, A. Saberi, A. A. Stoorvogel, X. Wang, and S. Roy. Semiglobal stabilization of sandwich systems by dynamic output feedback. In: Proc. 2010 American Control Conference, Baltimore, MD, 2010.
  52. H. F. Grip and A. Saberi. Observer design in the presence of periodic output disturbances by mixing of past and present output data. In: Proceedings of the IEEE Conference on Decision and Control, Shanghai, China, 2009.
  53. H. F. Grip, A. Saberi, and T. A. Johansen. State and parameter estimation for linear systems with nonlinearly parameterized perturbations. In: Proceedings of the IEEE Conference on Decision and Control, Shanghai, China, 2009.
  54. 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: Proceedings of the IEEE Conference on Decision and Control, Shanghai, China, 2009.
  55. H. F. Grip and A. Saberi. Structural decomposition of linear multivariable systems using symbolic computations. In: Proceedings of the Asian Control Conference, Hong Kong, 2009.
  56. 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: Proceedings of the American Control Conference, St. Louis, MO, 2009.
  57. H. F. Grip, T. A. Johansen, and L. Imsland. Estimation and control for systems with nonlinearly parameterized perturbations. In: Proceedings of the IFAC World Congress, Seoul, South Korea, 2008.
  58. 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: Proceedings of the SAE World Congress, Detroit, MI, 2007.
  59. 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: Proceedings of the IEEE Conference on Decision and Control, San Diego, CA, 2006.