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AMIT AILON Professor Emeritus, Dept. of Electrical and Computer Engineering, Ben Gurion University, Beer Sheva, Israel; Email: amit@ee.bgu.ac.il |
Research
interests
Nonlinear
systems; robot dynamics and control; nonlinear systems with time delays;
spacecraft dynamics and control; autonomous ground and aerial vehicle controls;
group and formation control of autonomous vehicles.
Teaching
experience
Introduction to
control systems; linear control systems; digital control systems; nonlinear
control systems; control of robotic systems; optimal control systems; advanced
topics in nonlinear control systems; adaptive control systems.
Publications
Articles in
scientific journals
Ailon, G. Langholz,
and M. Arkan, "An approach for control laws of
arm motion," IEEE Trans. on Biomedical Engineering, vol. 31, pp.
605-610 1984.
A. Ailon and G. Langholz,
"On the existence of time-optimal control of mechanical
manipulators," Journal of Optimization Theory and Applications,
vol. 46, pp. 1-21 1985.
A. Ailon, L. Baratchart,
G. Grimm and G. Langholz, "On polynomial
controllability with polynomial state for linear constant systems," IEEE
Transactions on Automatic Control, vol. 31, pp. 155-156, 1986.
A. Ailon and G. Langholz,
"Further study on time optimal control of multi-link mechanical
systems," The Journal of the Franklin Institute, vol. 321, pp.
167-177 1986.
A. Ailon and G. Langholz,
"More on controllability of linear time invariant systems," International
Journal of Control, vol. 44, pp. 1161-1176 1986.
R. Segev and A. Ailon,
"A geometrical setting for the newtonian
mechanics of robot," The Journal of the Franklin Institute, vol.
322, pp. 173-183 1986.
A. Ailon and R. Segev,
"Comments on exact control of linear systems with multiple control,"
IEEE Transactions on Automatic Control, vol. AC-31, pp. 1081-1083 1986.
A. Ailon, "Controllability of generalized
linear time-invariant systems," IEEE Transactions on Automatic Control,
vol. AC-32, pp. 429-432, 1987.
A. Ailon, and R. Segev,
"Driving a linear system by a piecewise constant control," International
Journal of Control, vol. 47, pp. 815 - 825, 1988.
A. Ailon, and G. Langholz,
"A study of manipulator controllability and time-optimal control of a
robot model with drive train compliance and actuators dynamics," IEEE
Transactions on Automatic Control, vol. AC-33, pp. 852 - 856, 1988.
A. Ailon, "An approach for pole
assignment in singular systems," IEEE Transactions on Automatic Control,
vol. AC-34, pp. 889-893, 1989.
A. Ailon and N. Berman, Invited Paper:
"Strategies for finite-time control in singular systems in open and
closed-loop configurations," Journal of Circuits, Systems and Signal
Processing, Special Issue on "Recent Advances in Singular
Systems," Guest Editors: Frank L. Lewis and Vassilios G. Mertzios, vol. 8, pp. 299-312, 1989.
A. Ailon, "Decoupling of square singular
systems via proportional state feedback," IEEE Transactions on
Automatic Control, vol. 36, pp. 95-102, 1991.
A. Ailon, Invited Paper: "An approach for
pole assignment by gain output feedback in square singular systems," Kybernetika, Special Issue on "System Structure
and Control," Guest Editor: Vladimir Kucera, vol. 27, pp. 317-332, 1991.
A. Ailon, "Disturbance decoupling with
stability and impulse-free response in singular systems," Systems and
Control Letters, vol. 19, pp. 401-411, 1992.
A. Ailon, "On the reduced-order casual
observer for generalized control systems," International Journal of
Control, vol. 57, pp. 1311-1323, 1993.
A. Ailon and R. Ortega, "An
observer-based set-point controller for robot manipulators with flexible
joints," Systems and Control Letters, vol. 21, pp. 329-335, 1993.
A. Ailon, "A solution to the disturbance
decoupling problem in singular systems via analogy with state-space
systems," Automatica, vol. 29, pp.
1541-1545, 1993.
A. Ailon, "A reduced-order casual
observer-based controller for singular systems," International Journal
of Systems Science, vol. 25, pp. 1-17, 1994.
A. Ailon, "On the design of output
feedback for finite and infinite pole assignment in singular systems with
application to the control problem of constrained robots," Journal of
Circuits, Systems, and Signal Processing, vol. 13, pp. 1-20, 1994.
R. Kelly, R. Ortega, A. Ailon, and A. Loria,
"Global regulation of flexible joint robots using approximate
differentiation," IEEE Transactions on Automatic Control, vol. 39,
pp. 1222-1224, 1994.
A. Ailon, "Estimates of flexible-joint
robot model response-times and some control applications," Systems and
Control Letters, vol. 26, pp. 79-85, 1995.
A. Ailon and R. Segev,
"A stable observer-based trajectory controller for asymptotic model
matching of a rigid robot," Journal of Optimization Theory and
Applications, vol. 87, pp. 517-538, 1995.
A. Ailon and R. Lozano
"Controller-observer for set-point tracking of flexible-joint robots
including Coriolis and centripetal effects in motor dynamics," Automatica, vol. 32, pp. 1329-1331, 1996.
A. Ailon, "Output controllers based on
iterative schemes for set-point regulation of uncertain flexible-joint robot
models," Automatica, vol. 32, pp.
1455-1461, 1996.
A. Ailon, R. Lozano, and M. Gil,
"Point-to-point regulation of a robot with flexible joints including
electrical effects of actuator dynamics," IEEE Transactions on
Automatic Control, vol. 42, pp. 559-564, 1997.
M. I. Gil' and A. Ailon, "On global
feedback stabilization of nonlinear nonautonomous systems," International
Journal of Control, vol. 68, pp. 935-941, 1997.
R. Rabinovici, A. Ailon,
S. Gurfinkel and Z. Mor,
"Permanent-magnet synchronous motor actuator for nonlinear load," Electromotion, vol. 4, pp. 80-85, 1997.
M. I. Gil' and A. Ailon, "On global
feedback stabilization of nonlinear retarded systems," Dynamics of
Continuous, Discrete and Impulsive Systems, vol. 4, pp. 195-203, 1998.
A. Ailon, M. I. Gil', and B.-H. Ahn, "A study on the time-response functions of robot
models incorporating actuator dynamics with applications to estimator
design" Journal of Nonlinear Analysis, Theory, Methods &
Applications, vol. 31, pp. 99-115, 1998.
M. I. Gil', A. Ailon, and B.-H. Ahn, "On absolute stability of nonlinear systems with
small delays," Mathematical Problems in Engineering, vol. 4, pp.
423-435, 1998.
M. I. Gil' and A. Ailon, "The
input-output version of Aizerman conjecture," International
Journal on Robust and Nonlinear Control, vol. 8, pp. 1219-1226, 1998.
J. Collado, R. Lozano, and A. Ailon, "Semi-global stabilization of discrete-time
systems with bounded disturbances," Systems and Control Letters,
vol. 36, pp. 267-275, 1999.
D. Dimogianopoulos, R. Lozano and A. Ailon, "Indirect adaptive periodic control,"
IEEE Transactions on Automatic Control, vol. 44, pp. 2308-2312, 1999.
A. Ailon, M. I. Gil', and E.-S. Choi, "A
simple linear stabilizing controller for RLED robot manipulators with uncertain
parameters and some related applications," International Journal of Control,
vol. 72, pp. 546-559, 1999.
A. Ailon, M. I. Gil', and E.-S. Choi,
"Linear stabilizing controllers for electrically driven flexible-joint
robots with uncertain parameters," Journal of Circuit, Systems and
Signal Processing, vol. 18, pp. 131-147, 1999.
M. I. Gil' and A. Ailon, "On exponential
stabilization for a class of nonlinear nonautonomous systems," International
Journal of Control, vol. 72, pp. 430-434, 1999.
A. Ailon, E.-S. Choi, and B.-H. Ahn, "An output-based controller with two operational
modes for a robot with uncertain parameters in set-point regulation
tasks," IEEE/ASME Transactions on Mechatronics, vol. 4, pp.
147-156, 1999.
A. Ailon, Invited Review on Eigenstructure assignment for control design, by G. P. Lin
and R. J. Patton, Automatica, vol. 35, pp.
1335-1337, 1999.
A. Ailon and M. I. Gil', "Stability
analysis of a rigid robot with output-based controller and time delay," Systems
and Control Letters, vol. 40, pp. 31-35, 2000.
A. Ailon, E.-S. Choi and B.-H. Ahn, "Structural properties of a flexible-joint robot
model with output controllers and some related applications," International
Journal of Systems Science, vol. 31, pp. 373-384, 2000.
M. I. Gil' and A. Ailon, "On input-output
stability of nonlinear retarded systems," IEEE Transactions on Circuits
and Systems I: Fundamental Theory and Applications, vol. 47, pp. 761-763,
2000.
A. Ailon, R. Lozano, and M. I. Gil',
"Iterative regulation of an electrically driven flexible-joint robot with
model uncertainty," IEEE Transactions on Robotics and Automation,
vol. 16, pp. 863-970, 2000.
D. Dimogianopoulis, R. Lozano, and A. Ailon, "Commande adaptative idirecte periodique" (in French),
Identification et Commande Adaptive, Editors
R. Lozano and D. Taouta, vol. 2, pp. 186-202, Hermes
Science Publications, 2001.
A. Ailon, M. I. Gil', and R. Lozano,
"Estimation and regulation of the rate of convergence of a rigid robot to
a set-point with applications to spacecraft attitude control," Journal
of Nonlinear Analysis, Methods & Applications (Series B: Real World
Applications), vol. 4, pp. 525-539, 2003.
M. I. Gil' and A. Ailon, "The
input-output version of the Aizerman-Myshkis problem
for retarded systems," International Journal of Control, vol. 76,
pp. 1125-1128, 2003.
A. Ailon, R. Segev,
and S. Arogeti, "A simple velocity-free
controller for attitude regulation of a spacecraft with delayed feedback,"
IEEE Transactions on Automatic Control, vol. 49, pp.125-130, 2004.
A. Ailon, "Asymptotic stability in a
flexible-joint robot with model uncertainty and multiple time delays in
feedback," The Journal of the Franklin Institute, vol. 34, pp.
519-531, 2004.
A. Ailon, N. Berman, and S. Arogeti, "Robot controller design for achieving global
asymptotic stability and local prescribed performance," IEEE
Transactions on Robotics, vol. 20, pp. 790-795, 2004.
A. Ailon, N. Berman, and S. Arogeti, "On controllability and trajectory tracking
of a kinematic vehicle model," Automatica,
vol. 41, pp. 889-896, 2005.
A. Ailon and B.-H. Ahn,
"Stability in robots with delayed feedback: analysis and practical
observations," Dynamics of Continuous, Discrete & Impulsive Systems
(Series B: Applications & Algorithms) vol. 15, pp. 351-371, 2008.
A. Ailon, Simple Stabilizing and tracking
controllers for autonomous VTOL aircraft with bounded inputs, IEEE
Transaction on Automatic Control, vol. 55, pp. 737-743, 2010.
I. Zohar and A. Ailon and R. Rabinovici, Mobile robot characterized by dynamic and
kinematic equations and actuator equations: trajectory tracking and related
applications," Robotics and Autonomous Systems, vol. 59, pp.
343-353, 2011.
A. Ailon and I. Zohar, Control strategies for
driving a group of nonholonomic kinematic mobile robots in formation along a
time-parameterized path," IEEE/ASME Transaction on
Mechatronics, vol. 17, pp. 326-336, 2012.
I. Zohar and A. Ailon, "Tracking controllers for aerial vehicles
subject to restricted inputs and wind perturbations," International
Journal of Control, Automation and Systems, vol. 11, pp. 433-441, 2013.
A. Ailon,
A. Cosic, I. Zohar, and A. Rodic,
"Control algorithms for groups of kinematic unicycle and skid-steering
mobile robots with restricted inputs," Dynamics of Continuous, Discrete
and Impulsive Systems Series B: Applications & Algorithms, vol. 20, pp.
135-161, 2013.
A. Ailon
and S. Arogeti, "Closed-form nonlinear tracking
controllers for quadrotors with model and input generator uncertainties," Automatica, vol. 54, pp. 317-324, 2015.
A. Ailon, "Control of mobile robots with
bounded inputs in a rigid formation," Solid State Phenomena, Trans.
Tech Publications, vol. 260, pp. 38-44, 2017.
S. Arogeti and A. Ailon,
"Low Level Formation Controls for a Group of Quadrotors with Model
Uncertainties," International Journal of Control. vol. 93, pp.
1534-1546, 2020. Published on line 17 September 18: https://doi.org/10.1080/00207179.2018.1515500
A. Ailon, Optimal control for quadrotors
during inspection of power utility assets, Renewable Energies and Power
Quality Journal (RE&PQJ), vol. 17, pp. 85-90, 2019.
Refereed
conferences and invited presentations
A. Ailon, "A new approach to prosthetic
control by a binary coded EMG signal, Proceedings of the Sixth Annual
Conference on Rehabilitation Engineering, San Diego, California, June 1983.
A. Ailon, "End-point prosthetic control
via binary coded EMG signal," Proceedings of the Fifth Annual Conference, IEEE
Engineering in Medicine and Biology, Columbus, Ohio, September 1983.
A. Ailon and G. Langholz,
"Off-line computation and on-line control procedure for mechanical
manipulators," Proceeding of the Conference on Intelligent System and
Machine, Oakland University, MI, April 1984.
A. Ailon, Invited Presentation: "Upper
bounds on the time-response of mechanical manipulators," Workshop on
non-linear control systems, Israel Association for Automatic Control, Hertzliyah, March 1986.
R. Segev and A. Ailon,
"Jet locality as implied by body self-determinism and continuity," Proceeding
of International Conference on Computational Mechanics, Tokyo, May 1986.
A. Ailon and R. Segev,
"Bounds on the time response of a multi-link mechanical system," Proceedings
of the Japan U.S.A. Symposium on Flexible Automation, Osaka, July 1986.
A. Ailon and H. Azaria, "Array processor
architecture, and functional algorithm for the real time control of robot
arm," Joint French-Israeli Symposium on," Proceedings of the
Convention on Advanced Robotics, Theories and Practice," Tel-Aviv, May
1988.
A. Ailon, "A 'state space' approach to
the inverse dynamics problem in robotics," Proceedings of the Israeli
Conference of Mechanical Engineering, Beer-Sheva, June 1988.
A. Ailon and H. Azaria, "A discrete
linear state equation approach to the inverse dynamics problem as applied to
robotics," Proceedings of the IEEE International Conference on control
and applications, Jerusalem, April 1989.
A. Ailon, Paper in Invited Session: "Pole
assignment by gain output feedback in singular systems," Proceedings of
the IFAC Workshop on System Structure and Control: State-Space and Polynomial
Methods, Prague, September 1989.
A. Ailon, "On the application of singular
systems to the control problem of a mechanical manipulator subject to kinematic
constraints," Proceedings of the Second France-Israel Symposium,
Advances in Non-Manufacturing Robotics, Saclay,
France, April 1991.
A. Ailon, "Analysis and synthesis for a
square singular system via a regular system with application to robotics,"
Proceedings of the Second International Symposium on Implicit and Robust
systems, Warsaw, Poland, July 1991.
A. Ailon, "Holonomically
constrained robot control via generalized state observer," SIAM
Conference on Control and its Application, Minnesota, September 1992.
A. Ailon and R. Ortega, "Set-point robot
control without velocity measurement," II. Workshop on Adaptive
Control: Applications to Nonlinear Systems and Robotics, Cancun, Mexico,
December 1992.
A. Ailon and R. Ortega, "Set-point
regulation of robot with flexible joints: A comparative study," Proceedings
of the IEEE Mediterranean Control Conference, Crete, June 1993.
A. Ailon, Invited Presentation: "On the
problem of set point regulations for free and constrained robot motion," International
Conference on Control Theory and Its Applications, Kibbutz Maale HaChamisha, Israel, October
1993.
R. Kelly, R. Ortega, A. Ailon, and A. Loria,
"Global regulation of flexible joint robots using approximate
differentiation," Proceedings of the 32nd Conference on Decision and
Control, San Antonio, Texas, December 1993.
A. Ailon, E. Landau and M. Gladstein,
Invited Paper: "Observers for rigid robots," Proceedings of the
MELECON '94 (Mediterranean Electrotechnical Conference), Antalya, Turkey,
April 1994.
A. Ailon, E. Landau and M. Gladstein,
"A design approach for a state estimator for a multi-link revolute rigid
robot," Proceedings of the 25th Israel Conference of Mechanical
Engineering, The Technion City, Haifa, Israel, May 1994.
A. Ailon, "Analysis and synthesis of an
output feedback for uncertain robot model with flexible-joints," Proceedings
of the IFAC Conference on System Structure and Control, Nantes, France,
July 1995.
A. Ailon and R. Lozano, "Set-point output
feedback regulation of uncertain robot model with gravity compensation," Proceedings
of the 8th Convention of Electrical and Electronic Engineers in Israel,
Tel-Aviv, March 1995.
A. Ailon, "Controller-observers for
point-to-point control of 'full-model' flexible-joint robots," Proceedings
of the 3rd French-Israeli Symposium on Robotics, Herzlia,
Israel, May 1995.
A. Ailon, M. Gladstein,
and M. Berman, "A simple stabilizable linear output controller for a
flexible-joint robot," Proceedings of the 26 Israel Conference of
Mechanical Engineering, Technion City, Haifa, May 1996.
A. Ailon and B.-H. Ahn,
"An estimate of the rate of convergence of a rigid robot model with a linear
feedback in a set-point regulation task," Proceedings of the Fourth
Int. Conference on Control, Automation, Robotics and Vision, Singapore,
December 1996.
R. Rabinovici, A. Ailon,
S. Gurfinkel, and Z. Mor,
Invited Presentation: "Permanent magnet synchronous motor actuator for
nonlinear loads," The 2nd International Symposium on Advanced
Electromechanical Motion System, Electromotion'97, Cluj-Napoca, Romania,
May 1997.
M. I. Gil' and A. Ailon, "Input-output
stability of nonlinear nonautonomous systems," Proceedings of the
American Control Conference, Albuquerque, USA, June 1997.
A. Ailon and B.-H. Ahn,
"Real-time intelligent set-point controllers for uncertain models of
mechanical manipulators driven by brush DC motors," The Fifth Bar-Ilan Symposium of the Foundations of Artificial
Intelligence, Ramat Gan, Israel, June 1997.
A. Ailon, M. I. Gil', and E.-S. Choi, "On
I/O and Lyapunov stability in robot models with state and output
controllers," Proceedings of the European Control conference,
Brussels, Belgium, July 1997.
A. Ailon, E.-S. Choi, and B.-H. Ahn, "A new approach for global stabilization of
flexible-joint robots with uncertain parameters," Proceedings of the
2nd Asian Control Conference, Seoul, Korea, July 1997.
A. Ailon and E.-S. Choi, Invited Presentation:
"Applications of the contraction mapping theorem to robotic control
systems," The Sixth International Colloquium of Numerical Analysis and
Computer Science with Applications, Plovdiv, Bulgaria, August 1997.
E.-S. Choi, A. Ailon, J.-S. Yun and B.-H. Ahn, "Position control of robots with uncertain
parameters using output-feedback controller," Proceedings of the '97
Korea Control Conference, Seoul, Korea, October 1997.
D. Dimogianopoulos, R. Lozano, and A. Ailon, "Indirect adaptive periodic control," Proceedings
of the IEEE Conference on Decision and Control, San Diego, USA, December
1997.
A. Ailon, M. I. Gil', and E.-S. Choi, "A
point-to-point controller for an uncertain model of a rigid robot driven by
brushed DC motors," Proceedings of the Seventeenth IASTED International
Conference on Modeling, Identification and Control, Grindelwald,
Switzerland, February 1998.
M. I. Gil' and A. Ailon, "On feedback
stabilization of nonlinear nonautonomous systems," Proceedings of the
Seventeenth IASTED International Conference on Modeling, Identification and
control, Grindelwald, Switzxerland, February
1998.
A. Ailon, M. I. Gil', E.-S. Choi, and B.-H. Ahn, ''A simple linear stabilizing controller for an
uncertain rigid robot model including the effect of the actuator dynamics,'' Proceedings
of the American Control Conference, Philadelphia, USA, June 1998.
A. Ailon, ''An approach for set-point regulation
of electrically driven flexible-joint robots with uncertain parameters,'' Proceedings
of the IEEE Conference on Control Applications, Trieste, Italy, September
1998.
A. Ailon, M. I. Gil' and E.-S. Choi,
"Stabilizing robots with uncertain parameters actuated by DC motors with
flexible coupling shafts," Proceedings of the IEEE Conference on
Control Applications, Trieste, Italy September 1998.
A. Ailon and M. I. Gil', "An estimate to
the energy function of a rigid robot with a stabilizing PD controller," Proceedings
of the 7th IEEE Mediterranean Conference on Control and Automation, Haifa,
Israel, June 1999.
A. Ailon and M. I. Gil', "Sufficient
conditions for stability of a rigid robot with delayed input," Proceedings
of the 21st IEEE Convention of the Electrical and Electronic Engineering in
Israel, Tel Aviv, Israel, April 2000.
A. Ailon, "Output-based controller for an
electrically driven robot with model uncertainty," Proceedings of the
28th Israeli Conference on Mechanical Engineering, Beer Sheva, June 2000.
A. Ailon, Invited Presentation: "An
iterative control scheme of a flexible-joint robot with uncertain
parameters," Workshop on Robotics, Israel Association for Automatic
Control, Hertzliyah, Israel, February 2001.
A. Ailon, N. Berman, and S. Arogeti, "On controllability and trajectory following
of a kinematic car," Proceedings of the IFAC Symposium on System &
Control, Prague, Czech, August 2001.
A. Ailon, B. Grinberg, R. Segev,
and M. I. Gil', "A simple output-based stabilizing controller for attitude
regulation of a rigid spacecraft with gas-jet actuators," Proceedings
of the 2001 American Control Conference, Arlington, Virginia, USA, June
2001.
A. Ailon, R. Segev,
B. Grinberg, and M. I. Gil', "Velocity-free controllers for attitude
regulation: some further applications and results," Proceedings of the
2001 Conference on Control Applications, to be held in Mexico City, Mexico,
September 2001.
A. Ailon, R. Segev,
and B. Grinberg, Invited Presentation: "Attitude stabilization and control
of a rigid spacecraft by state and output controllers," Workshop on
Control Applications in Space, Israel Association for Automatic Control, Hertzliyah, Israel, May 2001.
A. Ailon, "Polynomial controllability in
linear time-invariant systems: some further results and applications to optimal
control," Proceedings of the 15th IFAC World Congress, Barcelona,
Spain, July 2002.
A. Ailon, N. Berman, B. Grinberg, B.-H. Ahn, S. Arogeti, and E.-S. Choi,
Paper in Invited Session: "Robot set-point control and spacecraft attitude
regulation: some useful structural properties and new results," Proceedings
of the Seventh International Conference on Control, Automation, Robotic and
Vision, Singapore, December 2002.
A. Ailon, N. Berman, and S. Arogeti, "Robot controller design for achieving
required performances," Proceedings of the 29th Israel Conference on
Mechanical Engineering, Haifa, Israel, May 2003.
A. Ailon, N. Berman, and S. Arogeti, "Revisiting problems associated with
structural properties of robots with applications to controller design," Proceedings
of the 42nd IEEE Conference on Decision & Control (CDC), Maui, Hawaii,
December 2003.
A. Ailon, "Asymptotic stability in
flexible-joint robots with multiple time delay," Proceedings of the
42nd IEEE Conference on Decision & Control (CDC), Maui, Hawaii,
December 2003.
A. Ailon, N. Berman, and S. Arogeti, "Trajectory following and point-to-point
control of an autonomous kinematic vehicle model," Proceedings of the
30th Israeli Conference on Mechanical Engineering, Tel Aviv, May 2005.
A. Ailon, "Control of a VTOL aircraft:
motion planning and trajectory tracking," Proceedings of the 13th IEEE
Mediterranean Conference on Control and Automation, Limassol, Cyprus, June
2005.
A. Ailon, "Applications of Polynomial
Controllability to Optimal Control in Linear and Nonlinear Systems: the Vehicle Kinematic Model Case," Proceedings of
the 2006 American Control Conference, Minneapolis, USA, June 2006.
A. Ailon, "Optimal path and tracking
control of an autonomous VTOL aircraft," Proceedings of the 14th IEEE
Mediterranean Conference on Control and Automation, Ancona, Italy, June
2006.
A. Ailon and Byung Ha Ahn,
"Further results on stability of a rigid robot with model uncertainty and
time-delay in feedback," Proceedings of the 14th IEEE Mediterranean
Conference on Control and Automation, Ancona, Italy, June 2006.
A. Ailon, "Motion planning and control of
vehicles with nonholonomic constraints: theory and applications," Proceedings
of the Controlo'06, the 7th Portuguese Conference on Automatic Control,
Lisbon, Portugal, September 2006.
A. Ailon, "Control Algorithm for Tracking
in Autonomous VTOL Aircraft," Proceedings of the 3rd International
Conference on MechatronicSystems and Materials (MSM
2007), Kaunas, Lithuania, September 2007.
I. Levi, N. Berman, and A. Ailon, "Robust
adaptive nonlinear control for robot manipulators," Proceedings of the
15th Mediterranean
Conference on Control and Automation, Athens, Greece, June 2007.
A. Ailon, "Motion planning and optimal
control of an autonomous aircraft," Proceedings of the 6th IFAC
Symposium on Intelligent Autonomous Vehicles (IAV), Toulouse, France,
September 2007.
A. Ailon and Ilan
Zohar, "Motion planning and optimal control in a kinematic model of an autombile," Proceedings of the 6th IFAC Symposium
on Intelligent Autonomous Vehicles (IAV), Toulouse, France, September 2007.
I. Levi, N. Berman, and A. Ailon, Nonlinear
adaptive H-infinity output feedback tracking control for robotic systems, Proceedings
of the International Federation of Automatic Control (IFAC) Convention,
Seoul, Korea July 2008.
A. Ailon and I. Zohar, Point-to-point control
and trajectory tracking in wheeled mobile robots: some further results and
applications, Proceedings of the International Federation of Automatic
Control (IFAC) Convention, Seoul, Korea July 2008.
A. Ailon, Mobile robots characterized by
kinematic and dynamic equations: motion planning, trajectory tracking, and
group control, Proceedings of the ASME Dynamic Systems and Control
Conference, Ann Arbor, USA October 2008.
A. Ailon, Trajectory tracking for UAVs with
bounded inputs and some associated applications, Proceedings of the 6th
IFAC Symposium on Robust Control Design, Haifa, Israel June 2009.
I. Zohar, A. Ailon, and R. Rabinovici,
Controllers for a mobile robot dynamic model that includes the actuator
dynamics: trajectory tracking and control for convoy-like vehicles, Proceedings
of the 17th Mediterranean Conference on Control and Automation,
Thessaloniki, Greece 2009.
A. Ailon, Control for Autonomous VTOL
Aircraft with Restricted Inputs, Proceedings of the 17th Mediterranean
Conference on Control and Automation, Thessaloniki, Greece 2009.
A. Ailon and I. Zohar, Controllers for
trajectory tracking and string-like formation in wheeled mobile robots with
bounded inputs, Proceedings of the 15th
Mediterranean Electrotechnical Conference, Valletta, Malta, April
2010.
I. Zohar and A. Ailon, Optimal control
strategies for wheeled mobile robot with bounded inputs, Proceedings of the
ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis
(ESDA'10), Istanbul, Turkey, July 2010.
A. Ailon, Optimal control strategies for
wheeled mobile robot with bounded inputs, Proceedings of the IEEE/ASME
International Conference on Advanced Intelligent Mechatronics (AIM 2011),
Budapest, Hungary, July, 2011.
A. Ailon, A. Cosic,
I. Zohar, A. Rodic, Control for teams of kinematic
unicycle-like and skid-steering mobile robots with restricted inputs: analysis
and applications, Proceedings of the 15th IEEE International Conference on
Advanced Robotics (ICAR 2011), Tallinn, Estonia, June, 2011.
A. Ailon and I. Zohar, Control of unmanned
aerial vehicle with restricted input in the presence of additive wind
perturbations," Proceedings of the International Conference on Control,
Automation, and Systems, Seoul, Korea, October 2011.
A. Ailon, Closed-form feedback controllers for set-point and
trajectory tracking for the nonlinear model of quadrotor helicopters," Proceedings
of the 7th IFAC Symposium on Robust Control Design
(ROCOND'12), Aalborg, Denmark, June
20-22, 2012.
I. Zohar, A. Ailon,
and H. Guterman, "Simple controllers for the
nonlinear model of quadrotor helicopters," Proceedings of the Itzhack Y. Bar-Itzhack
Memorial Symposium on Estimation, Navigation, and Spacecraft
Control, Haifa, Israel, October 14-17, 2012.
A. Ailon,
"Control strategies for groups of autonomous wheeled mobile robots with
restricted inputs," Proceedings of the IEEE 27-th Convention of
Electrical and Electronics Engineers in Israel, Eilat
Nov. 14-17 2012.
I. Zohar, A. Ailon,
and H. Guterman, "A simple controller for the
nonlinear model of quadrotor helicopters and its application to vision-based
landing," Proceedings of the 2013 Congress on Advances in Nano,
Biomechanics, Robotics, and Energy Research, Seoul, Korea August 25-28, 2013.
A. Ailon, Invited
Presentation: "Dynamic and control of quadrotors and some
considerations related to service operations," MeSRob
2013 International Exploratory Workshop: New Trends in Medical and Service
Robot, Belgrade , Serbia, July 11-13. 2013.
A. Ailon
and S. Arogeti, " Formation control strategies
for autonomous quadrotor-type helicopters," Proceedings of the 2nd IFAC
Workshop on Research, Education and Development of Unmanned Aerial Systems,
Compiegne, France, November 2013.
A. Ailon
and S. Arogeti, "Studying the impact of
time-delays in an output-based altitude/attitude controller on quadrotor-type
helicopter dynamics," Proceedings of the 22nd Mediterranean Conference
on Automation and control, Palermo, Italy, June 2014.
A. Ailon,
"Dynamic modelling using Lagrange formulation and control of wheeled
mobile robots in rigid and convoy-like formations subject to constrained
actuators," the 4th International Conference on Dynamics, Vibration,
and Control, Shanghai, China, August 2014.
A. Ailon,
"Simple optimal control laws for UAVs with bounded inputs," the
4th International Conference on Dynamics, Vibration, and Control, Shanghai,
China, August 2014.
S. Arogeti
and A. Ailon, "Collision avoidance strategies
for Quadrotors in tight formation flying," Proceedings of the 23rd Mediterranean Conference on Control and Automation, Malaga, Spain, June
2015.
A. Ailon,
"A suboptimal control strategy for multiple unmanned aerial
vehicles," Proceedings of the 11th International Conference
Mechatronics
Systems and Materials, Kaunas, Lithuania, July 2015.
A. Ailon
and I. Zohar, " Trajectory tracking and formation controls for
a UAV model that incorporates
dynamic effects," Proceedings of the 2nd
International Conference on Control, Automation and Robotics, Hong Kong, April 2016.
A. Ailon
and S. Arogeti, "On set-point control of a
quadrotor-type helicopter with a suspended load," Proceedings of the 2nd International Conference on Control, Automation
and Robotics, Hong Kong, April 2016.
S. Arogeti
and A. Ailon, "Rigid formation control for a
group of UAVs with augmented models that account for input generator
dynamics," Proceedings of the 23rd
Mediterranean Conference on Control and Automation, Athens, Greece, June 2016.
A. Ailon,
"Control of a group of unicycle-type robots incorporating input generator
dynamics and forming a rigid formation," Proceedings of the 12th
International Conference on Mechatronics Systems and Materials, Bialystok,
Poland, July 2016.
A. Ailon
and S. Arogeti, "String stability of a group of
nonholonomic mobile robots whose models incorporate kinematic and dynamic
equations of motion", Proceedings of the 29th Chinese Control and Decision Conference (CCDC), Chongqing, China,
pp. 3062-3068, May 2017.
S. Arogeti
and A. Ailon, "Formation control and string
stability of a group of kinematic vehicles with front-steering wheels," Proceedings
of the 25th Mediterranean Conference on
Control and Automation, Valletta,
Malta, pp. 1011-1016, July 2017.
A. Ailon
and S. Arogeti, "Simple altitude and attitude
controllers for quadrotors with model uncertainties," Proceedings of
the 14th International Conference Mechatronics Systems and Materials, Zakopane, Poland, June 2018.
A. Ailon
and S. Arogeti, " Steering-based controllers for
stabilizing lean angles in two-wheeled vehicles," Proceedings of the
26th Mediterranean Conference on Control and
Automation, Zadar, Croatia, June 2018.
A. Ailon,
Optimal control for quadrotors during inspection of power utility assets, Proceedings
of the 17th International Conference on Renewable Energies and Power Quality
(ICREPQ), Tenerife, Spain, April 2019.
A. Ailon
and S. Arogeti, A simple heuristic approach for
attitude/altitude control of a quadrotor with uncertain parameters, Proceedings
of the 24th Intl Conference on Methods & Models in Automation &
Robotics (MMAR), Miedzyzdroje, Poland, August
2019.
A. Ailon
Structural properties of robotic arm models with potential applications for
the study of human arm control, Proceedings of the IEEE Conference on
Cyborg and Bionic Systems, Munich, Germany, September 2019.