Why is Nonlinearly Stable Estimation and Control Important? See video below for an eyeopener!
Research Interests:
Dynamics & Vibrations, Robotics & Controls
Nonlinear control and dynamics, geometric mechanics, nonlinear estimation, aerospace control, mobile robots
Recent Publications
 R. R. Warier, A. K. Sanyal, and S. P. Viswanathan, \Finite Time Stable Attitude Estimation of
Rigid Bodies With Unknown Dynamics,” Asian Journal of Control, vol. 21(4), pp. 15221530,
2019, doi: 10.1002/asjc.2089.  X. Li, R. R. Warier, A. K. Sanyal, and D. Qiao, “Trajectory Tracking Near Small Bodies Using Only Attitude Control and OrbitAttitude Coupling,” AIAA Journal of Guidance, Control and Dynamics, published online, doi: 10.2514/1.G003653. JGCDG003653_online
 S. P. Viswanathan and A. K. Sanyal, “Adaptive Singularityfree Control Moment Gyroscopes,” AIAA Journal of Guidance, Control and Dynamics, 2018, doi: 10.2514/1.G003545. ASCMGJGCDfinal
 S. P. Viswanathan, A. K. Sanyal and E. Samiei, “Integrated Guidance and Feedback Control of Underactuated Robotics System in SE(3),” Journal of Intelligent & Robotic Systems, vol. 89, pp. 251263, 2018, doi: 10.1007/s1084601705470.JIRSFinalPubPrint
 A. Siravuru, S. P. Viswanathan, K. Sreenath and A. K. Sanyal, “The Reaction Mass Biped: Geometric Mechanics and Control,” Journal of Intelligent & Robotic Systems, vol. 89, pp. 155173, 2018.JIRSRMB
 A. K. Sanyal and M. Izadi, “Stable Estimation of Rigid Body Motion Based on the Lagrange d’Alembert Principle,” Multisensor Attitude Estimation: Fundamental Concepts and Applications, pp. 5776, 2016, ed.: H. Fourati, CRC Press (Taylor and Francis), FL.K26956_C004
 M. Izadi and A. K. Sanyal, “Rigid Body Pose Estimation based on the Lagranged’Alembert Prin ciple,” Automatica, vol. 71(9), pp. 7888, 2016, doi: 10.1016/j.automatica.2016.04.028. IzSaVPEFinalPub
 S. Br ́as, M. Izadi, C. Silvestre, A. Sanyal and P. Oliveira, “Nonlinear Observer for 3D Rigid Body Motion Estimation using Doppler Measurements”, IEEE Transactions on Automatic Control, vol. 61(11), pp. 35803585, 2016, doi: 10.1109/TAC.2016.2526671.
 M. Nazari, E. A. Butcher, T. Yucelen and A. K. Sanyal, “Decentralized Consensus Control of a Rigid Body Spacecraft Formation with Communication Delay,” AIAA Journal of Guidance, Control and Dynamics, vol. 39, pp. 838851, 2016, doi: 10.2514/1.G001396.
 G. Misra, M. Izadi, A. Sanyal and D. Scheeres, “Coupled OrbitAttitude Dynamics of Spacecraft and Relative State Estimation During Exploration of Small Solar System Bodies,” Advances in Space Research, vol. 57(8), pp. 17471761, 2016, doi: 10.1016/j.asr.2015.05.023.
 J. Bohn and A. K. Sanyal, “Almost global finitetime stabilization of rigid body attitude dynamics using rotation matrices,” International Journal of Robust and Nonlinear Control, 2015, doi: 10.1002/rnc.3399.
 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. 587600, 2015.
 A. K. Sanyal and J. Bohn, “Finite Time Stabilization of Simple Mechanical Systems using Continuous Feedback,” International Journal of Control, 88(4), pp. 783791, 2015.
 D. Lee, A. Sanyal, E. Butcher and D. Scheeres, “FiniteTime Control for Spacecraft BodyFixed Hovering over an Asteroid”, IEEE Transactions in Aerospace and Electronic Systems, vol. 51(1), pp. 506520, 2015, doi: 10.1109/TAES.2014.140197.
 D. Lee, E. A. Butcher and A. K. Sanyal, “Optimal interior EarthMoon Lagrange point transfer trajectories using mixed impulsive and continuous thrust,” Aerospace Science and Technology, vol. 39, pp. 281292, 2014.
 D. Lee, A. Sanyal, E. Butcher and D. Scheeres, “Almost Global Asymptotic Tracking Control for Spacecraft BodyFixed Hovering near an Asteroid,” Aerospace Science and Technology, vol. 38, pp. 105115, 2014.
 M. Izadi and A. K. Sanyal, “Rigid Body Attitude Estimation Based on the Lagranged’Alembert Principle,” Automatica, vol. 50(10), pp. 25702577, 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. 225237, 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, “InertiaFree Spacecraft Attitude Control Using Reaction Wheels,” AIAA Journal of Guidance, Control and Dynamics, vol. 36(5), pp. 14251439, 2013.
 M. C. Sorgenfrei, S. S. Joshi, and A. K. Sanyal, “Controller GainTuning for a Small Spacecraft Attitude Tracking Maneuver Using a Genetic Algorithm,” Journal of Small Satellites, vol. 2(1), pp. 105118, 2013.
 A. K. Sanyal and N. Nordkvist, “Attitude State Estimation with MultiRate 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. 197223, 2011.
 N. A. Chaturvedi, A. K. Sanyal and N. H. McClamroch, “Rigid Body Attitude Control: Using rotation matrices for continuous, singularityfree control laws”, IEEE Control Systems Magazine, vol. 31(3), pp. 3051, 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. 457462, 2011.
 A. K. Sanyal, A. Fosbury, N. A. Chaturvedi, and D. S. Bernstein, “InertiaFree Spacecraft Attitude Tracking with Disturbance Rejection and Almost Global Stabilization,” AIAA J. Guidance, Control and Dynamics, vol 32(4), pp. 11671178, 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. 5976, 2009.
 A. M. Bloch, I. I. Hussein, M. Leok, and A. K. Sanyal, “Geometric structurepreserving Optimal Control of the Rigid Body,” Journal of Dynamical and Control Systems, vol. 15, no. 3, pp. 307330, 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. 469500, 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. 236245, 2008.
Recent Conference Papers
 N. Wang, R. Hamrah, and A. K. Sanyal, \A FiniteTime Stable Observer for Relative Attitude
Estimation,” IEEE Conference on Decision and Control, Nice, France, Dec 2019.  R. Hamrah, A. K. Sanyal, and S. P. Viswanathan, \Discrete Finitetime Stable Position Tracking
Control of Unmanned Vehicles,” IEEE Conference on Decision and Control, Nice, France, Dec
2019.  Y. Li, H. Li, Z. Li, H. Fang, A. K. Sanyal, Y. Wang, and Q. Qiu,\Fast and Accurate Trajectory
Tracking for Unmanned Aerial Vehicles based on Deep Reinforcement Learning,” IEEE Interna
tional Conference on Embedded and RealTime Computing Systems and Applications, Hangzhou,
China, Aug 2019.  M. H. Dhullipalla, R. Hamrah, R. R. Warier, and A. K. Sanyal, \Trajectory Generation on SE(3)
for an Underactuated Vehicle with Pointing Direction Constraints,” American Control Conference,
Philadelphia, PA, pp. 19301935, July 2019.  A. K. Sanyal, R. R. Warier, and R. Hamrah, \Finite Time Stable Attitude and Angular Velocity
Bias Estimation for Rigid Bodies With Unknown Dynamics,” European Control Conference, Naples,
Italy, pp. 40474052, June 2019.  X. Li, A. K. Sanyal, R. R.Warier and D. Qiao, “Dynamics Analysis of Hopping Rovers on Irregularly Shaped Small Bodies,” 2018 AAS/AIAA Astrodynamics Specialist Conference, Snowbird, UT, Aug 2018.
 M. H. Dhulliplalla, R. Hamrah and A. K. Sanyal, “Trajectory Generation on SE(3) with Applications to
a Class of Underactuated Aerial Vehicles”, IEEE Conference on Decision and Control, Melbourne,
Australia, pp. 25572562, December 2017.  S.P. Viswanathan, A. K. Sanyal and R. R. Warier, “FiniteTime Stable Tracking Control for a Class of
Underactuated Aerial Vehicles in SE(3)”, American Control Conference, Seattle, WA, pp. 39263931,
May 2017.  R. R. Warier, A. K. Sanyal, S. Sukumar, and S.P. Viswanathan, “Feedback Tracking Control Schemes
for a Class of Underactuated Aerial Vehicles in SE(3)”, American Control Conference, Seattle, WA, pp.
899904, May 2017.  S. P. Viswanathan, A. K. Sanyal and M. Izadi, “Integrated Guidance and Nonlinear Feedback Control
of Underactuated Vehicles in SE(3)”, AIAA Guidance, Navigation, and Control Conference, AIAA
SciTech Forum, AIAA 20171044, January 2017.  J. Bohn, A. K. Sanyal, and E. A. Butcher, “Unscented State Estimation for Rigid Body Attitude Motion
with a Finitetime Stable Observer,” IEEE Conference on Decision and Control, Las Vegas, NV,
pp. 46984703, December 2016.  S. P. Viswanathan, A. K. Sanyal, and G. Misra, “Controllability Analysis of Spacecraft with Only
Attitude Actuation Near Small Solar System Bodies,” IFAC Symposium on Nonlinear Control Systems,
Moneterey, CA, August 2016.  M. Izadi, S. P. Viswanathan, A. K. Sanyal, C. Silvestre and P. Oliveira, “The Variational Attitude
Estimator in the Presence of Bias in Angular Velocity Measurements,” American Control
Conference, Boston, MA, pp. 40654070, July 2016.  S. P. Viswanathan and A. K. Sanyal, “Design of an Adaptive Singularityfree Control Moment Gyroscope Cluster for Spacecraft Attitude Control,” Indian Control Conference, Hyderabad, India, January 2016.
 M. Izadi, A. K. Sanyal, S. P. Viswanathan, E. J. Barany, ”Rigid Body Motion Estimation Based on the Lagranged’Alembert Principle,” IEEE Conference on Decision and Control, Osaka, Japan, pp. 36993704, December 2015.
 M. Izadi, A. K. Sanyal, R. W. Beard, H. Bai, ”GPSDenied Relative Motion Estimation for Fixed Wing UAV Using the Variational Pose Estimator,” IEEE Conference on Decision and Control, Osaka, Japan, pp. 21522157, December 2015.
 S. P. Viswanathan and A. K. Sanyal, “Design of an Adaptive SingularityFree Control Moment Gyroscope (ASCMG) cluster for Spacecraft Attitude Control”, ASME Dynamic Systems and Control Conference, Columbus, OH, paper DSCC20159818, October 2015.
 M. Izadi, A. K. Sanyal, E. Samiei and S. P. Viswanathan, “Discretetime Rigid Body Attitude State Estimation based on the Discrete Lagranged’Alembert Principle”, American Control Conference, Chicago, IL, pp. 33923397, 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. 57415746, 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. 28482853, May 2015.
 M. Izadi, E. Samiei, A. K. Sanyal and V. Kumar, “Comparison of an Attitude Estimator based on the LagrangedAlembert Principle with some StateoftheArt Filters,” IEEE International Conference on Robotics and Automation, Seattle, WA, pp. 428433, May 2015.
 G. Misra, A. Sanyal and E. Samiei, “Asteroid Landing Guidance Design in the Framework of Coupled OrbitAttitude 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 SmartphoneBased 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 Finitetime 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. 16071612, June 2014.
 J. Bohn and A. Sanyal, “Almost Global FiniteTime Stable Observer for Rigid Body Attitude Dynamics,” American Control Conference, Portland, OR, pp. 49494954, June 2014.
 D. Lee, A. K. Sanyal, E. A. Butcher, and D. J. Scheeres, “Finitetime Control for Bodyfixed 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, “Finitetime 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.
Videos of recent research results are available here.
Current and Past Projects
 A PlatformIndependent Flight Management Unit for Small UAS, Akrobotix LLC ( ow through
from NSF SBIR Phase 1), 2/1/2020 to 12/31/2020, PI, $31,981.  Reliable Perception and Control for UAV Navigation in 3D Space, Semiconductor Research Corporation,
2/1/2019 to 1/31/2022, CoPI, $299,638.  Enabling Multimodal Sensing, RealTime Onboard Detection and Adaptive Control for Fully Autonomous Unmanned Aerial Systems, NSF CPS, $400,000, Oct. 1, 2017 to Sept. 30,2019, CoPI.
 Guidance and Control of LowAltitude Small Unmanned Aerial Vehicles in GPSDenied Environments, Syracuse University Center for Advanced Systems and Engineering, $50,000,
Mar. 1, 2016 to July 31, 2017, PI.

Towards Full Onboard Autonomy for Unmanned Vehicles in GPSdenied Environments, Gryphon Sensors and Syracuse University Office of VPR (from New York State Department of Economic Development), $40,000, Nov. 1, 2016 to May 15, 2017, PI.
 Adaptive SingularityFree Variable Speed Control Moment Gyroscope, AFRL, $50,000, Mar. 1, 2015 – Dec. 31, 2015, CoPI.
My complete CV is available here: CVwnr