#### Research Website:

### Research Interests:

Dynamics & Vibrations, Robotics & Controls

Nonlinear control and dynamics, geometric mechanics, nonlinear estimation, aerospace control, mobile robots

### Current Projects

- Robust State and Uncertainty Estimation for Unmanned Systems in the Presence of External Uncertainties, NSF, $278,158, Sep. 1, 2011 – Aug. 31, 2015, PI.
- Proximity Operations for Near Earth Asteroid Exploration, NASA, $749,980, Sep. 1, 2011 – Aug. 31, 2015, co-PI.
- Adaptive Singularity-Free Variable Speed Control Moment Gyroscope, AFRL, $50,000, Mar. 1, 2015 – Dec. 31, 2015, PI.

### Recent Publications

- J. Bohn and A. K. Sanyal, “Almost global finite-time stabilization of rigid body attitude dynamics using rotation matrices,” International Journal of Robust and Nonlinear Control, 2015, doi: 10.1002/rnc.3399.
- G. Misra, M. Izadi, A. Sanyal and D. Scheeres, “Coupled Orbit-Attitude Dynamics of Spacecraft and Relative State Estimation During Exploration of Small Solar System Bodies,” Advances in Space Research, 2015, doi: 10.1016/j.asr.2015.05.023.
- S. P. Viswanathan, A. K. Sanyal, F. Leve and N. H. McClamroch, “Dynamics and Control of Spacecraft with a Generalized Model of Variable Speed Control Moment Gyroscopes,” ASME Journal of Dynamic Systems, Measurement and Control, vol. 137(7), paper 071003, 2015, doi: 10.1115/1.4029626.
- D. Lee, A. Sanyal and E. Butcher, “Asymptotic Tracking Control for Spacecraft Formation Flying with Decentralized Collision Avoidance,” AIAA Journal of Guidance, Control and Dynamics, vol. 38(4), pp. 587-600, 2015.
- A. K. Sanyal and J. Bohn, “Finite Time Stabilization of Simple Mechanical Systems using Continuous Feedback,” International Journal of Control, 88(4), pp. 783-791, 2015.
- D. Lee, A. Sanyal, E. Butcher and D. Scheeres, “Finite-Time Control for Spacecraft Body-Fixed Hovering over an Asteroid”, IEEE Transactions in Aerospace and Electronic Systems, vol. 51(1), pp. 506-520, 2015, doi: 10.1109/TAES.2014.140197.
- D. Lee, E. A. Butcher and A. K. Sanyal, “Optimal interior Earth-Moon Lagrange point transfer trajectories using mixed impulsive and continuous thrust,” Aerospace Science and Technology, vol. 39, pp. 281-292, 2014.
- D. Lee, A. Sanyal, E. Butcher and D. Scheeres, “Almost Global Asymptotic Tracking Control for Spacecraft Body-Fixed Hovering near an Asteroid,” Aerospace Science and Technology, vol. 38, pp. 105-115, 2014.
- M. Izadi and A. K. Sanyal, “Rigid Body Attitude Estimation Based on the Lagrange-d’Alembert Principle,” Automatica, vol. 50(10), pp. 2570-2577, 2014.
- D. Lee, H. Bang, A. Sanyal and E. Butcher, “Nonlinear Output Tracking and Disturbance Rejection for Autonomous Close Range Rendezvous and Docking of Spacecraft,” Transactions of Japan Society for Aeronautical and Space Sciences, vol. 57(4), pp. 225-237, 2014.
- A. K. Sanyal and A. Goswami, “Dynamics and Balance Control of the Reaction Mass Pendulum (RMP): A 3D Multibody Pendulum with Variable Body Inertia,” ASME Journal of Dynamic Systems, Measurement and Control, vol. 136(2), 2014, paper 021002.
- A. Weiss, I. Kolmanovsky, D. S. Bernstein, and A. Sanyal, “Inertia-Free Spacecraft Attitude Control Using Reaction Wheels,” AIAA Journal of Guidance, Control and Dynamics, vol. 36(5), pp. 1425-1439, 2013.
- M. C. Sorgenfrei, S. S. Joshi, and A. K. Sanyal, “Controller Gain-Tuning for a Small Spacecraft Attitude Tracking Maneuver Using a Genetic Algorithm,” Journal of Small Satellites, vol. 2(1), pp. 105-118, 2013.
- A. K. Sanyal and N. Nordkvist, “Attitude State Estimation with Multi-Rate Measurements for Almost Global Attitude Feedback Tracking,” AIAA J. Guidance, Control and Dynamics, vol. 35(3), pp. 868- 880, 2012.
- A. M. Bloch, P. E. Crouch, N. Nordkvist, and A. K. Sanyal, “Embedded Geodesic Problems and Optimal Control for Matrix Lie Groups,” Journal of Geometric Mechanics, vol. 3(2), pp. 197-223, 2011.
- N. A. Chaturvedi, A. K. Sanyal and N. H. McClamroch, “Rigid Body Attitude Control: Using rotation matrices for continuous, singularity-free control laws”, IEEE Control Systems Magazine, vol. 31(3), pp. 30-51, 2011.
- A. K. Sanyal, N. Nordkvist and M. Chyba, “An Almost Global Tracking Control Scheme for Maneuverable Autonomous Vehicles and its Discretization,” IEEE Transactions on Automatic Control, vol. 56(2), pp. 457-462, 2011.
- A. K. Sanyal, A. Fosbury, N. A. Chaturvedi, and D. S. Bernstein, “Inertia-Free Spacecraft Attitude Tracking with Disturbance Rejection and Almost Global Stabilization,” AIAA J. Guidance, Control and Dynamics, vol 32(4), pp. 1167-1178, 2009.
- A. K. Sanyal, C. Moseley, and A. M. Bloch, “Analytical and Numerical Solution of a Sub- Riemannian Optimal Control Problem with Applications to Quantum Spin Systems,” Comm. Information and Systems, special issue dedicated to Roger Brockett, vol 9(1), pp. 59-76, 2009.
- A. M. Bloch, I. I. Hussein, M. Leok, and A. K. Sanyal, “Geometric structure-preserving Optimal Control of the Rigid Body,” Journal of Dynamical and Control Systems, vol. 15, no. 3, pp. 307-330, 2009.
- A. K. Sanyal, A. M. Bloch, P. E. Crouch, and J. E. Marsden, “Optimal Control and Geodesics on Quadratic Matrix Lie Groups,” Foundations of Computational Mathematics, vol 8(4), pp. 469-500, 2008.
- A. K. Sanyal, T. Lee, M. Leok, and N. H. McClamroch, “Global Optimal Attitude Estimation using Uncertainty Ellipsoids,” Systems and Control Letters, vol 57(3), pp. 236-245, 2008.

### Recent Conference Papers

- M. Izadi, A. K. Sanyal, E. Samiei and S. P. Viswanathan, “Discrete-time Rigid Body Attitude State Estimation based on the Discrete Lagrange-d’Alembert Principle”, American Control Conference, Chicago, IL, pp. 3392-3397, July 2015.
- K. Sreenath and A. K. Sanyal, “The Reaction Mass Biped: Equations of Motion, Hybrid Model for Walking and Trajectory Tracking Control,” IEEE International Conference on Robotics and Automation, Seattle, WA, pp. 5741-5746, May 2015.
- E. Samiei, M. Izadi, S. P. Viswanathan, A. K. Sanyal, and E. A. Butcher, “Robust Stabilization of Rigid Body Attitude Motion in the Presence of a Stochastic Input Torque,” IEEE International Conference on Robotics and Automation, Seattle, WA, pp. 2848-2853, May 2015.
- M. Izadi, E. Samiei, A. K. Sanyal and V. Kumar, “Comparison of an Attitude Estimator based on the Lagrange-dAlembert Principle with some State-of-the-Art Filters,” IEEE International Conference on Robotics and Automation, Seattle, WA, pp. 428-433, May 2015.
- G. Misra, A. Sanyal and E. Samiei, “Asteroid Landing Guidance Design in the Framework of Coupled Orbit-Attitude Spacecraft Dynamics,” AIAA/AAS Space Flight Mechanics Meeting, Williamsburg, VA, January 2015.
- E. Samiei, A. K. Sanyal, and E. A. Butcher“Asymptotic Stabilization of Rigid Body Attitude Motion in the Presence of Unknown Time Delay in Feedback”, Indian Control Conference, Chennai, India, January 2015.
- S. P. Viswanathan, A. Sanyal and M. Izadi “Mechatronics Architecture of Smartphone-Based Spacecraft ADCS using VSCMG Actuators”, Indian Control Conference, Chennai, India, January 2015.
- A. K. Sanyal, M. Izadi and J. Bohn, “An Observer for Rigid Body Motion with Almost Global Finite-time Convergence”, ASME Dynamic Systems and Control Conference, San Antonio, TX, October 2014.
- A. Sanyal, M. Izadi, G. Misra, E. Samiei and D. Scheeres, “Estimation of Dynamics of Space Objects from Visual Feedback during Proximity Operations”, SPACE 2014, San Diego, CA, August 2014.
- A. Sanyal, E. Butcher and M. Izadi, “Determination of Relative Motion of a Space Object from Simultaneous Measurements of Range and Range Rate,” American Control Conference, Portland, OR, pp. 1607-1612, June 2014.
- J. Bohn and A. Sanyal, “Almost Global Finite-Time Stable Observer for Rigid Body Attitude Dynamics,” American Control Conference, Portland, OR, pp. 4949-4954, June 2014.
- D. Lee, A. K. Sanyal, E. A. Butcher, and D. J. Scheeres, “Finite-time Control for Body-fixed Hovering of Rigid Spacecraft over an Asteroid,” AIAA/AAS Space Flight Mechanics Meeting, Santa Fe, NM, Jan 2014.
- D. Lee, A. K. Sanyal, E. A. Butcher, and D. J. Scheeres, “Finite-time Observer for Rigid Spacecraft Motion over an Asteroid,” AIAA/AAS Space Flight Mechanics Meeting, Santa Fe, NM, Jan 2014.
- S. Prabhakaran, A. K. Sanyal and F. Leve, “A General Dynamics Model for Spacecraft with Variable Speed Control Moment Gyroscopes,” AIAA/AAS Space Flight Mechanics Meeting, Santa Fe, NM, Jan 2014.
- A. K. Sanyal, J. Bohn and A. M. Bloch, “Almost Global Finite-time Stabilization of Rigid Body Attitude Dynamics,” IEEE Conference on Decision and Control, Florence, Italy, Dec 2013.
- S. Bras, M. Izadi, C. Silvestre, A. Sanyal and P. Oliveira, “Nonlinear Observer for 3D Rigid Body Motion,” IEEE Conference on Decision and Control, Florence, Italy, Dec 2013.