Contact Information
Phone:(808) 956 2142
Fax:(808) 956 2373
Email: aksanyal#hawaii,edu
Research Website

Geometric mechanics, nonlinear and geometric control, spacecraft control, variational integrators, aerospace systems, mobile robots, optimal control and estimation, nonholonomic systems.

Selected Publications

"Global Optimal Attitude Estimation using Uncertainty Ellipsoids," with T. Lee, M. Leok, and N. H. McClamroch, Systems and Control Letters, vol 57, pp. 236-245, 2008.

"Adaptive Tracking of Angular Velocity for a Planar Rigid Body with Unknown Inertia and Input Nonlinearity," with N. A. Chaturvedi, M. Chellappa, Jean Luc Valk, N. H. McClamroch and D. S. Bernstein, IEEE Transactions on Control Systems Technology, vol 14(4), pp. 613-627, 2006.

"Optimal Attitude Estimation and Filtering without using Local Coordinates, Part 1," Proceedings of the 2006 American Control Conference, Minneapolis, MN, pp. 5734-5739, 2006.

"A Variational Problem on Stiefel Manifolds," with A. M. Bloch, and P. E. Crouch, Nonlinearity, vol 19, pp. 2247-2276, 2006.

"Control of Mechanical Systems with Cyclic Coordinates using Higher Order Averaging," with A. M. Bloch and N. H. McClamroch, Proceedings of the 44th IEEE Conference on Decision and Control, Seville, Spain, 6835-6840, 2005.

"Stability and Stabilization of Relative Equilibria of a Dumbbell Body in Central Gravity," with J. Shen, N. H. McClamroch, and A. M. Bloch, AIAA Journal of Guidance, Control, and Dynamics, vol 28(5), 833-842, 2005.

"Two Connected Bodies in a Central Gravitational Field," with A. M. Bloch, Proceedings of the 43rd IEEE Conference on Decision and Control, Paradise Island, Bahamas, 3968-3973, 2004.

"Dynamics and Control of a 3D Pendulum," with J. Shen, N. A. Chaturvedi, D. S. Bernstein, and N. H. McClamroch, Proc. of the 43rd IEEE Conference on Decision and Control, Paradise Island, Bahamas, 323-328, 2004.

"Dynamics of multibody systems in planar motion in a central gravitational field," with A. M. Bloch, and N. H. McClamroch, Dynamical Systems, formerly Dynamics and Stability of Systems, vol. 19(4), 303-343, 2004.

"Asymptotic Stability of Multibody Attitude Systems," with J. Shen and N. H. McClamroch, in Stability and Control of Dynamical Systems with Applications, D. Liu and P. J. Antsaklis, eds., Birkauser, Boston, 47-70, 2003.

Courses Offered

ME 402 Dynamic Systems Lab and ME 651 Automatic Control (Spring 2008)
ME 451 Feedback Control Systems and ME 691 Graduate Seminar(Fall 2007)
ME 374 Kinematics and Dynamics of Machinery (Spring 2007)