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2019

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 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

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

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
3 Citations (Scopus)

Integrated Guidance and Feedback Control of Underactuated Robotics System in SE(3)

Viswanathan, S. P., Sanyal, A. & Samiei, E., Jan 1 2018, In : Journal of Intelligent and Robotic Systems: Theory and Applications. 89, 1-2, p. 251-263 13 p.

Research output: Contribution to journalArticle

Feedback control
Robotics
Trajectories
Unmanned aerial vehicles (UAV)
VTOL/STOL aircraft

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

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

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
2017
2 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
2 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
5 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
21 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
4 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
2 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
7 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
1 Citation (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
49 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)

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
40 Citations (Scopus)

Finite-time control for spacecraft body-fixed hovering over an asteroid

Lee, D., Sanyal, A., Butcher, E. & Scheeres, D., Jan 1 2015, In : IEEE Transactions on Aerospace and Electronic Systems. 51, 1, p. 506-520 15 p., 7073509.

Research output: Contribution to journalArticle

Asteroids
Spacecraft
Barreling
Lie groups
Closed loop systems
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
15 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
8 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