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.