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Research Output 2000 2019

  • 1403 Citations
  • 20 h-Index
  • 60 Conference contribution
  • 37 Article
  • 13 Conference article
  • 1 Chapter
2019

Autonomous waypoint planning, optimal trajectory generation and nonlinear tracking control for multi-rotor UAVS

Eslamiat, H., Li, Y., Wang, N., Sanyal, A. & Qiu, Q., Jun 1 2019, 2019 18th European Control Conference, ECC 2019. Institute of Electrical and Electronics Engineers Inc., p. 2695-2700 6 p. 8795855. (2019 18th European Control Conference, ECC 2019).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Trajectory Generation
Optimal Trajectory
Nonlinear Control
Tracking Control
Rotor
1 Citation (Scopus)

Autonomous waypoints planning and trajectory generation for multi-rotor UAVs

Li, Y., Eslamiat, H., Wang, N., Zhao, Z., Sanyal, A. & Qiu, Q., Apr 15 2019, DESTION 2019 - Proceedings of the Workshop on Design Automation for CPS and IoT. Ramachandran, G. S. & Ortiz, J. (eds.). Association for Computing Machinery, Inc, p. 31-40 10 p. (DESTION 2019 - Proceedings of the Workshop on Design Automation for CPS and IoT).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Open Access
Trajectory Generation
Unmanned aerial vehicles (UAV)
Rotor
Optimal Trajectory
Rotors

Discrete-Time Optimal Trajectory Generation Through Multiple Waypoints

Warier, R. R., Sanyal, A. & Viswanathan, S. P., May 14 2019, 2019 5th Indian Control Conference, ICC 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc., p. 342-346 5 p. 8715626. (2019 5th Indian Control Conference, ICC 2019 - Proceedings).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Trajectory Generation
Optimal Trajectory
Discrete-time
Trajectories
Trajectory

Discrete-time Stable Tracking Control of Underactuated Rigid Body Systems on SE(3)

Hamrah, R., Warier, R. R. & Sanyal, A., Jan 18 2019, 2018 IEEE Conference on Decision and Control, CDC 2018. Institute of Electrical and Electronics Engineers Inc., p. 2932-2937 6 p. 8618870. (Proceedings of the IEEE Conference on Decision and Control; vol. 2018-December).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tracking Control
Rigid Body
Discrete-time
Degree of freedom
Motion

Finite time stable attitude and angular velocity bias estimation for rigid bodies with unknown dynamics

Sanyal, A., Warier, R. R. & Hamrah, R., Jun 1 2019, 2019 18th European Control Conference, ECC 2019. Institute of Electrical and Electronics Engineers Inc., p. 4047-4052 6 p. 8796262. (2019 18th European Control Conference, ECC 2019).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Angular velocity
rigid structures
angular velocity
Rigid Body
Unknown

Finite time stable attitude estimation of rigid bodies with unknown dynamics

Warier, R. R., Sanyal, A. & Viswanathan, S. P., Jan 1 2019, In : Asian Journal of Control.

Research output: Contribution to journalArticle

Angular velocity
Measurement errors
Cost functions
Probability distributions
Sensors

Trajectory generation on SE(3) for an underactuated vehicle with pointing direction constraints

Dhullipalla, M. H., Hamrah, R., Warier, R. R. & Sanyal, A., Jul 1 2019, 2019 American Control Conference, ACC 2019. Institute of Electrical and Electronics Engineers Inc., p. 1930-1935 6 p. 8815238. (Proceedings of the American Control Conference; vol. 2019-July).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Trajectories
Lie groups
Unmanned vehicles
Derivatives
Computer simulation

Variational Attitude and Pose Estimation Using the Lagrange-d' Alembert Principle

Izadi, M., Sanyal, A. & Warier, R. R., Jan 18 2019, 2018 IEEE Conference on Decision and Control, CDC 2018. Institute of Electrical and Electronics Engineers Inc., p. 1270-1275 6 p. 8619341. (Proceedings of the IEEE Conference on Decision and Control; vol. 2018-December).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Pose Estimation
Estimation Error
Lagrange
Error analysis
Rigid Body Motion
2018

Adaptive singularity-free control moment gyroscopes

Prabhakaran, V. S. & Sanyal, A., Jan 1 2018, In : Journal of Guidance, Control, and Dynamics. 41, 11, p. 2416-2424 9 p.

Research output: Contribution to journalArticle

control moment gyroscopes
Gyroscope
Gyroscopes
spacecraft
Singularity

Dynamics analysis of hopping rovers on irregularly-shaped small bodies

Li, X., Sanyal, A., Warier, R. R. & Qiao, D., Jan 1 2018, AAS/AIAA Astrodynamics Specialist Conference, 2018. Weisman, R. M., Jones, B. A., Singla, P. & Marchand, B. G. (eds.). Univelt Inc., p. 3687-3702 16 p. (Advances in the Astronautical Sciences; vol. 167).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

dynamic analysis
Asteroids
Dynamic analysis
asteroids
asteroid
1 Citation (Scopus)

Finite-time stable trajectory tracking and pointing control for a class of underactuated vehicles in SE(3)

Warier, R. R., Sanyal, A., Dhullipalla, M. H. & Viswanathan, S. P., Mar 7 2018, 2018 Indian Control Conference, ICC 2018 - Proceedings. Institute of Electrical and Electronics Engineers Inc., Vol. 2018-January. p. 190-195 6 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Trajectory Tracking
Trajectories
Guidance
Degree of freedom
Finite-time Stability
1 Citation (Scopus)

Fractional control of rigid body attitude dynamics using exponential coordinates

Nazari, M., Butcher, E. A. & Sanyal, A., Jan 1 2018, AIAA Guidance, Navigation, and Control. 210039 ed. American Institute of Aeronautics and Astronautics Inc, AIAA

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Derivatives
Feedback
Controllers
Three term control systems
Spacecraft

Robust stochastic stabilization of attitude motion

Samiei, E., Nazari, M., Butcher, E. A. & Sanyal, A., Jul 9 2018, (Accepted/In press) In : International Journal of Dynamics and Control. p. 1-17 17 p.

Research output: Contribution to journalArticle

Gain control
Mechanics
Stabilization
Motion
Asymptotic stability
1 Citation (Scopus)

Spacecraft attitude fractional feedback control using rotation matrices and exponential coordinates

Nazari, M., Butcher, E. A. & Sanyal, A., Jan 1 2018, In : Journal of Guidance, Control, and Dynamics. 41, 10, p. 2185-2198 14 p.

Research output: Contribution to journalArticle

Rotation matrix
feedback control
Spacecraft
Feedback Control
Feedback control

The Reaction Mass Biped: Geometric Mechanics and Control

Siravuru, A., Viswanathan, S. P., Sreenath, K. & Sanyal, A., Jan 1 2018, In : Journal of Intelligent and Robotic Systems: Theory and Applications. 89, 1-2, p. 155-173 19 p.

Research output: Contribution to journalArticle

Mechanics
Pendulums
Trajectories
Lyapunov functions
Computer simulation
2 Citations (Scopus)

Trajectory generation on SE(3) with applications to a class of underactuated vehicles

Dhullipalla, M. H., Hamrah, R. & Sanyal, A., Jan 18 2018, 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Institute of Electrical and Electronics Engineers Inc., Vol. 2018-January. p. 2557-2562 6 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Trajectory Generation
Trajectories
Trajectory
Degree of freedom
Unmanned Vehicles
1 Citation (Scopus)

Trajectory Tracking Control For Underactuated Thrust-Propelled Aerial Vehicles

Warier, R. R., Sanyal, A., Dhullipalla, M. H. & Viswanathan, S. P., Jan 1 2018, In : IFAC-PapersOnLine. 51, 13, p. 555-560 6 p.

Research output: Contribution to journalArticle

Trajectories
Antennas
Attitude control
Closed loop systems
Computer simulation
2017
3 Citations (Scopus)

Feedback tracking control schemes for a class of underactuated vehicles in SE(3)

Warier, R. R., Sanyal, A., Sukumar, S. & Viswanathan, S. P., Jun 29 2017, 2017 American Control Conference, ACC 2017. Institute of Electrical and Electronics Engineers Inc., p. 899-904 6 p. 7963067

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Feedback
Angular velocity
Stabilization
Trajectories
VTOL/STOL aircraft
3 Citations (Scopus)

Finite-time stable tracking control for a class of underactuated aerial vehicles in SE(3)

Viswanathan, S. P., Sanyal, A. & Warier, R. R., Jun 29 2017, 2017 American Control Conference, ACC 2017. Institute of Electrical and Electronics Engineers Inc., p. 3926-3931 6 p. 7963556

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Antennas
Unmanned aerial vehicles (UAV)
VTOL/STOL aircraft
Feedback
Fixed wings
6 Citations (Scopus)

Integrated guidance and nonlinear feedback control of underactuated unmanned aerial vehicles in SE(3)

Viswanathan, S. P., Sanyal, A. & Izadi, M., Jan 1 2017, AIAA Guidance, Navigation, and Control Conference, 2017. American Institute of Aeronautics and Astronautics Inc, AIAA

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nonlinear feedback
Unmanned aerial vehicles (UAV)
Feedback control
Trajectories
VTOL/STOL aircraft
3 Citations (Scopus)

Stabilization of rigid body attitude motion with time-delayed feedback

Samiei, E., Sanyal, A. & Butcher, E. A., Sep 1 2017, In : Aerospace Science and Technology. 68, p. 509-517 9 p.

Research output: Contribution to journalArticle

Asymptotic stability
Feedback control
Time delay
Stabilization
Feedback
2016
20 Citations (Scopus)

Almost global finite-time stabilization of rigid body attitude dynamics using rotation matrices

Bohn, J. & Sanyal, A., Jun 1 2016, In : International Journal of Robust and Nonlinear Control. 26, 9, p. 2008-2022 15 p.

Research output: Contribution to journalArticle

Stabilization
Feedback control
Lie groups
Feedback
Actuators

Almost global stochastic stabilization of attitude motion with unknown multiplicative diffusion coefficient

Samiei, E., Sanyal, A. & Butcher, E. A., Jan 1 2016, AIAA Guidance, Navigation, and Control Conference. American Institute of Aeronautics and Astronautics Inc, AIAA

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Torque
Stabilization
Backstepping
Gain control
Lyapunov functions

Controllability Analysis of Spacecraft with Only Attitude Actuation Near Small Solar System Bodies

Viswanathan, S. P., Sanyal, A. & Misra, G., Jan 1 2016, In : IFAC-PapersOnLine. 49, 18, p. 648-653 6 p.

Research output: Contribution to journalArticle

Solar system
Controllability
Spacecraft
Gravitation
Attitude control
24 Citations (Scopus)

Coupled orbit-attitude dynamics and relative state estimation of spacecraft near small Solar System bodies

Misra, G., Izadi, M., Sanyal, A. & Scheeres, D., Apr 15 2016, In : Advances in Space Research. 57, 8, p. 1747-1761 15 p.

Research output: Contribution to journalArticle

state estimation
Solar system
State estimation
solar system
Spacecraft
31 Citations (Scopus)

Decentralized consensus control of a rigid-body spacecraft formation with communication delay

Nazari, M., Butcher, E. A., Yucelen, T. & Sanyal, A., Jan 1 2016, In : Journal of Guidance, Control, and Dynamics. 39, 4, p. 838-851 14 p.

Research output: Contribution to journalArticle

Communication Delay
Decentralized control
rigid structures
Spacecraft
Rigid Body
3 Citations (Scopus)

Design of an Adaptive Singularity-free Control Moment Gyroscope (ASCMG) actuator for agile and precise attitude control of cubesat

Viswanathan, S. P. & Sanyal, A., Mar 24 2016, 2016 Indian Control Conference, ICC 2016 - Proceedings. Institute of Electrical and Electronics Engineers Inc., p. 284-291 8 p. 7441141

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Attitude control
Gyroscopes
Actuators
Spacecraft
Dynamic models
5 Citations (Scopus)

Fractional pid control of spacecraft attitude dynamics using rotation matrices

Butcher, E. A., Nazari, M., Dabiri, A. & Sanyal, A., Jan 1 2016, In : Proceedings of the International Astronautical Congress, IAC.

Research output: Contribution to journalConference article

Spacecraft
controllers
spacecraft
Controllers
matrix
5 Citations (Scopus)

Nonlinear Observer for 3D Rigid Body Motion Estimation Using Doppler Measurements

Brás, S., Izadi, M., Silvestre, C., Sanyal, A. & Oliveira, P., Nov 1 2016, In : IEEE Transactions on Automatic Control. 61, 11, p. 3580-3585 6 p., 7400952.

Research output: Contribution to journalArticle

Convergence of numerical methods
Angular velocity
Motion estimation
Lyapunov functions
Velocity measurement
8 Citations (Scopus)

Rigid body pose estimation based on the Lagrange-d'Alembert principle

Izadi, M. & Sanyal, A., Sep 1 2016, In : Automatica. 71, p. 78-88 11 p.

Research output: Contribution to journalArticle

Error analysis
Mechanics
Lie groups
Sensors
Angular velocity
1 Citation (Scopus)

Stable estimation of rigid body motion based on the lagrange-d'alembert principle

Sanyal, A. & Izadi, M., Nov 3 2016, Multisensor Attitude Estimation: Fundamental Concepts and Applications. CRC Press, p. 57-76 20 p.

Research output: Chapter in Book/Report/Conference proceedingChapter

rigid structures
Error analysis
dissipation
translational motion
integrators
3 Citations (Scopus)

The variational attitude estimator in the presence of bias in angular velocity measurements

Izadi, M., Viswanathan, S. P., Sanyal, A., Silvestre, C. & Oliveira, P., Jul 28 2016, 2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers Inc., Vol. 2016-July. p. 4065-4070 6 p. 7525560

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Angular velocity
Angle measurement
Velocity measurement
Extended Kalman filters
Mechanics
6 Citations (Scopus)

Unscented state estimation for rigid body attitude motion with a finite-time stable observer

Bohn, J. J., Sanyal, A. & Butcher, E. A., Dec 27 2016, 2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., p. 4698-4703 6 p. 7798985

Research output: Chapter in Book/Report/Conference proceedingConference contribution

State Estimation
State estimation
Rigid Body
Observer
Motion
2015
2 Citations (Scopus)

Analysis of orbit-attitude coupling of spacecraft near small bodies

Misra, G. & Sanyal, A., Jan 1 2015, AIAA Guidance, Navigation, and Control Conference. American Institute of Aeronautics and Astronautics Inc, AIAA

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Spacecraft
Asteroids
Gravitation
Orbits
Solar system
5 Citations (Scopus)

Analysis of orbit-attitude coupling of spacecraft near small bodies

Misra, G. & Sanyal, A., Jan 1 2015, AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015. American Institute of Aeronautics and Astronautics Inc.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Spacecraft
Asteroids
Gravitation
Orbits
Solar system
51 Citations (Scopus)

Asymptotic tracking control for spacecraft formation flying with decentralized collision avoidance

Lee, D., Sanyal, A. & Butcher, E. A., Jan 1 2015, In : Journal of Guidance, Control, and Dynamics. 38, 4, p. 587-600 14 p.

Research output: Contribution to journalArticle

collision avoidance
Formation Flying
formation flying
Collision Avoidance
Tracking Control
10 Citations (Scopus)

Attitude stabilization of rigid spacecraft with minimal attitude coordinates and unknown time-varying delay

Samiei, E., Butcher, E. A., Sanyal, A. & Paz, R., Oct 8 2015, In : Aerospace Science and Technology. 46, p. 412-421 10 p.

Research output: Contribution to journalArticle

Spacecraft
Stabilization
Controllers
Asymptotic stability
Linear matrix inequalities
12 Citations (Scopus)

Comparison of an attitude estimator based on the Lagrange-d'Alembert principle with some state-of-the-art filters

Izadi, M., Samiei, E., Sanyal, A. & Kumar, V., Jan 1 2015, In : Proceedings - IEEE International Conference on Robotics and Automation. 2015-June, June, p. 2848-2853 6 p., 7139587.

Research output: Contribution to journalConference article

Angular velocity
Error analysis
Sensors
Extended Kalman filters
Kinetic energy
3 Citations (Scopus)

Delayed Feedback Asymptotic Stabilization of Rigid Body Attitude Motion for Large Rotations

Samiei, E., Izadi, M., Sanyal, A. & Butcher, E. A., Jan 1 2015, In : IFAC-PapersOnLine. 48, 12, p. 81-86 6 p.

Research output: Contribution to journalArticle

Feedback control
Stabilization
Feedback
Lyapunov methods
Nonlinear feedback
2 Citations (Scopus)

Design of an adaptive singularity-free control moment gyroscope (ASCMG) cluster for spacecraft attitude control

Viswanathan, S. P. & Sanyal, A., Jan 1 2015, Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. American Society of Mechanical Engineers, Vol. 1.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Attitude control
Gyroscopes
Spacecraft
Rotors
Dynamic models
6 Citations (Scopus)

Discrete-time rigid body attitude state estimation based on the discrete Lagrange-d'Alembert principle

Izadi, M., Sanyal, A., Samiei, E. & Viswanathan, S. P., Jan 1 2015, ACC 2015 - 2015 American Control Conference. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-July. p. 3392-3397 6 p. 7171856

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Angular velocity
State estimation
Error analysis
Kinetic energy
Dynamic models
6 Citations (Scopus)

Dynamics and control of spacecraft with a generalized model of variable speed control moment gyroscopes

Viswanathan, S. P., Sanyal, A., Leve, F. & McClamroch, N. H., Jul 1 2015, In : Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. 137, 7, 071003.

Research output: Contribution to journalArticle

control moment gyroscopes
speed control
Gyroscopes
Speed control
rotors
19 Citations (Scopus)

Finite-time stabilisation of simple mechanical systems using continuous feedback

Sanyal, A. & Bohn, J., Apr 3 2015, In : International Journal of Control. 88, 4, p. 783-791 9 p.

Research output: Contribution to journalArticle

Stabilization
Feedback control
Feedback
Lyapunov functions
State feedback
7 Citations (Scopus)

GPS-denied relative motion estimation for fixed-wing UAV using the variational pose estimator

Izadi, M., Sanyal, A., Beard, R. & Bai, H., Feb 8 2015, 54rd IEEE Conference on Decision and Control,CDC 2015. Institute of Electrical and Electronics Engineers Inc., p. 2152-2157 6 p. 7402525

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Fixed wings
Motion Estimation
Motion estimation
Unmanned aerial vehicles (UAV)
Optical Measurement
16 Citations (Scopus)

Kinematically coupled relative spacecraft motion control using the state-dependent riccati equation method

Lee, D., Bang, H., Butcher, E. A. & Sanyal, A., Jan 1 2015, In : Journal of Aerospace Engineering. 28, 4, 4014099.

Research output: Contribution to journalArticle

Riccati equations
Motion control
Spacecraft
Barreling
Kinematics
9 Citations (Scopus)

Rigid body motion estimation based on the Lagrange-d'Alembert principle

Izadi, M., Sanyal, A., Barany, E. & Viswanathan, S. P., Feb 8 2015, 54rd IEEE Conference on Decision and Control,CDC 2015. Institute of Electrical and Electronics Engineers Inc., p. 3699-3704 6 p. 7402793

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Rigid Body Motion
Motion Estimation
Motion estimation
Lagrange
Optical Measurement
8 Citations (Scopus)

Robust stabilization of rigid body attitude motion in the presence of a stochastic input torque

Samiei, E., Izadi, M., Viswanathan, S. P., Sanyal, A. & Butcher, E. A., Jan 1 2015, In : Proceedings - IEEE International Conference on Robotics and Automation. 2015-June, June, p. 428-433 6 p., 7139034.

Research output: Contribution to journalConference article

Gain control
Torque
Stabilization
Lyapunov functions
Feedback control
1 Citation (Scopus)

The Reaction Mass Biped: Equations of motion, hybrid model for walking and trajectory tracking control

Sreenath, K. & Sanyal, A., Jan 1 2015, In : Proceedings - IEEE International Conference on Robotics and Automation. 2015-June, June, p. 5741-5746 6 p., 7140003.

Research output: Contribution to journalConference article

Equations of motion
Pendulums
Trajectories
Dynamic models
Dynamic analysis
2014
2 Citations (Scopus)

A general dynamics model and geometric Variational Integrator for spacecraft with variable speed control moment gyroscopes

Viswanathan, S. P., Sanyal, A. & Leve, F., Jan 1 2014, Advances In The Astronautical Sciences. Mackison, D. L., Abdelkhalik, O., Wilson, R. S. & Zanetti, R. (eds.). Univelt Inc., Vol. 152. p. 2785-2801 17 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

control moment gyroscopes
speed control
integrators
Gyroscopes
Speed control
33 Citations (Scopus)

Almost global asymptotic tracking control for spacecraft body-fixed hovering over an asteroid

Lee, D., Sanyal, A., Butcher, E. A. & Scheeres, D. J., Jan 1 2014, In : Aerospace Science and Technology. 38, p. 105-115 11 p.

Research output: Contribution to journalArticle

Asteroids
Spacecraft
Lie groups
Force control
Mechanics