
AMIT AILON Professor Emeritus, Dept. of Electrical and Computer Engineering, Ben Gurion University, Beer Sheva, Israel; Email: amit@ee.bgu.ac.il Professor, Dept. of Electrical Engineering, Afeka Academic College of Engineering, Tel Aviv, Israel; Email: amita@afeka.ac.il 
Research interests
Nonlinear systems;
robot dynamics and control; nonlinear systems with time delays; spacecraft dynamics and control; control of
systems with nonholonomic constraints; 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. 605610 1984.
A. Ailon and G.
Langholz, "On the existence of timeoptimal control of mechanical
manipulators," Journal of Optimization Theory and Applications,
vol. 46, pp. 121 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. 155156, 1986.
A. Ailon and G.
Langholz, "Further study on time optimal control of multilink mechanical
systems," The Journal of the Franklin Institute, vol. 321, pp.
167177 1986.
A. Ailon and G.
Langholz, "More on controllability of linear time invariant systems,"
International Journal of Control, vol. 44, pp. 11611176 1986.
R. Segev and A.
Ailon, "A geometrical setting for the newtonian mechanics of robot," The
Journal of the Franklin Institute, vol. 322, pp. 173183 1986.
A. Ailon and R.
Segev, "Comments on exact control of linear systems with multiple
control," IEEE Transactions on Automatic Control, vol. AC31, pp.
10811083 1986.
A. Ailon,
"Controllability of generalized linear timeinvariant systems," IEEE
Transactions on Automatic Control, vol. AC32, pp. 429432, 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 timeoptimal control
of a robot model with drive train compliance and actuators dynamics," IEEE
Transactions on Automatic Control, vol. AC33, pp. 852  856, 1988.
A. Ailon, "An approach
for pole assignment in singular systems," IEEE Transactions on
Automatic Control, vol. AC34, pp. 889893, 1989.
A. Ailon and N.
Berman, Invited Paper: "Strategies for finitetime control in singular
systems in open and closedloop 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. 299312, 1989.
A. Ailon,
"Decoupling of square singular systems via proportional state
feedback," IEEE Transactions on Automatic Control, vol. 36, pp.
95102, 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.
317332, 1991.
A. Ailon,
"Disturbance decoupling with stability and impulsefree response in
singular systems," Systems and Control Letters, vol. 19, pp.
401411, 1992.
A. Ailon, "On
the reducedorder casual observer for generalized control systems," International
Journal of Control, vol. 57, pp. 13111323, 1993.
A. Ailon and R.
Ortega, "An observerbased setpoint controller for robot manipulators
with flexible joints," Systems and Control Letters, vol. 21, pp.
329335, 1993.
A. Ailon, "A
solution to the disturbance decoupling problem in singular systems via analogy
with statespace systems," Automatica, vol. 29, pp. 15411545,
1993.
A. Ailon, "A
reducedorder casual observerbased controller for singular systems," International
Journal of Systems Science, vol. 25, pp. 117, 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. 120, 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. 12221224, 1994.
A. Ailon,
"Estimates of flexiblejoint robot model responsetimes and some control
applications," Systems and Control Letters, vol. 26, pp. 7985,
1995.
A. Ailon and R.
Segev, "A stable observerbased trajectory controller for asymptotic model
matching of a rigid robot," Journal of Optimization Theory and
Applications, vol. 87, pp. 517538, 1995.
A. Ailon and R.
Lozano "Controllerobserver for setpoint tracking of flexiblejoint
robots including Coriolis and centripetal effects in motor dynamics," Automatica,
vol. 32, pp. 13291331, 1996.
A. Ailon,
"Output controllers based on iterative schemes for setpoint regulation of
uncertain flexiblejoint robot models," Automatica, vol. 32, pp.
14551461, 1996.
A. Ailon, R.
Lozano, and M. Gil, "Pointtopoint regulation of a robot with flexible
joints including electrical effects of actuator dynamics," IEEE
Transactions on Automatic Control, vol. 42, pp. 559564, 1997.
M. I. Gil' and A.
Ailon, "On global feedback stabilization of nonlinear nonautonomous systems,"
International Journal of Control, vol. 68, pp. 935941, 1997.
R. Rabinovici, A.
Ailon, S. Gurfinkel and Z. Mor, "Permanentmagnet synchronous motor
actuator for nonlinear load," Electromotion, vol. 4, pp. 8085,
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. 195203, 1998.
A. Ailon, M. I.
Gil', and B.H. Ahn, "A study on the timeresponse functions of robot
models incorporating actuator dynamics with applications to estimator
design" Journal of Nonlinear Analysis, Theory, Methods &
Applications, vol. 31, pp. 99115, 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.
423435, 1998.
M. I. Gil' and A.
Ailon, "The inputoutput version of Aizerman conjecture," International
Journal on Robust and Nonlinear Control, vol. 8, pp. 12191226, 1998.
J. Collado, R.
Lozano, and A. Ailon, "Semiglobal stabilization of discretetime systems
with bounded disturbances," Systems and Control Letters, vol. 36,
pp. 267275, 1999.
D. Dimogianopoulos,
R. Lozano and A. Ailon, "Indirect adaptive periodic control," IEEE
Transactions on Automatic Control, vol. 44, pp. 23082312, 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.
546559, 1999.
A. Ailon, M. I.
Gil', and E.S. Choi, "Linear stabilizing controllers for electrically
driven flexiblejoint robots with uncertain parameters," Journal of
Circuit, Systems and Signal Processing, vol. 18, pp. 131147, 1999.
M. I. Gil' and A.
Ailon, "On exponential stabilization for a class of nonlinear
nonautonomous systems," International Journal of Control, vol. 72,
pp. 430434, 1999.
A. Ailon, E.S.
Choi, and B.H. Ahn, "An outputbased controller with two operational
modes for a robot with uncertain parameters in setpoint regulation
tasks," IEEE/ASME Transactions on Mechatronics, vol. 4, pp.
147156, 1999.
A. Ailon, Invited
Review on Eigenstructure assignment for control design, by G. P. Lin and R. J.
Patton, Automatica, vol. 35, pp. 13351337, 1999.
A. Ailon and M. I.
Gil', "Stability analysis of a rigid robot with outputbased controller
and time delay," Systems and Control Letters, vol. 40, pp. 3135,
2000.
A. Ailon, E.S.
Choi and B.H. Ahn, "Structural properties of a flexiblejoint robot model
with output controllers and some related applications," International
Journal of Systems Science, vol. 31, pp. 373384, 2000.
M. I. Gil' and A.
Ailon, "On inputoutput stability of nonlinear retarded systems," IEEE
Transactions on Circuits and Systems I: Fundamental Theory and Applications,
vol. 47, pp. 761763, 2000.
A. Ailon, R.
Lozano, and M. I. Gil', "Iterative regulation of an electrically driven
flexiblejoint robot with model uncertainty," IEEE Transactions on
Robotics and Automation, vol. 16, pp. 863970, 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. 186202, 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 setpoint with applications to spacecraft attitude
control," Journal of Nonlinear Analysis, Methods & Applications
(Series B: Real World Applications), vol. 4, pp. 525539, 2003.
M. I. Gil' and A.
Ailon, "The inputoutput version of the AizermanMyshkis problem for
retarded systems," International Journal of Control, vol. 76, pp.
11251128, 2003.
A. Ailon, R. Segev,
and S. Arogeti, "A simple velocityfree controller for attitude regulation
of a spacecraft with delayed feedback," IEEE Transactions on Automatic
Control, vol. 49, pp.125130, 2004.
A. Ailon,
"Asymptotic stability in a flexiblejoint robot with model uncertainty and
multiple time delays in feedback," The Journal of the Franklin
Institute, vol. 34, pp. 519531, 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. 790795, 2004.
A. Ailon, N.
Berman, and
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. 351371, 2008.
A. Ailon, Simple
Stabilizing and tracking controllers for autonomous VTOL aircraft with bounded
inputs, IEEE Transaction on Automatic Control, vol. 55, pp. 737743,
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.
343353, 2011.
A. Ailon and I. Zohar, Control strategies for
driving a group of nonholonomic kinematic mobile robots in formation along a
timeparameterized path," IEEE/ASME
Transaction on Mechatronics, vol. 17, pp. 326336, 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. 433441, 2013.
A. Ailon, A. Cosic, I. Zohar, and A. Rodic, "Control algorithms for groups of kinematic unicycle and skidsteering mobile robots with restricted inputs," Dynamics of Continuous, Discrete and Impulsive Systems Series B: Applications & Algorithms, vol. 20, pp. 135161, 2013.
A. Ailon and S. Arogeti, "Closedform nonlinear tracking controllers for quadrotors with model and input generator uncertainties," Automatica, vol. 54, pp. 317324, 2015.
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,
A. Ailon,
"Endpoint 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, "Offline computation and online 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 timeresponse of mechanical
manipulators," Workshop on nonlinear 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 multilink 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 FrenchIsraeli Symposium on," Proceedings
of the Convention on Advanced Robotics, Theories and Practice,"
TelAviv, May 1988.
A. Ailon, "A
'state space' approach to the inverse dynamics problem in robotics," Proceedings
of the Israeli Conference of Mechanical Engineering, BeerSheva, 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: StateSpace 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 FranceIsrael Symposium, Advances in NonManufacturing 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, "Setpoint 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, "Setpoint 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
multilink 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 flexiblejoints," Proceedings of the IFAC Conference on System
Structure and Control, Nantes, France, July 1995.
A. Ailon and R.
Lozano, "Setpoint output feedback regulation of uncertain robot model
with gravity compensation," Proceedings of the 8th Convention of
Electrical and Electronic Engineers in Israel, TelAviv, March 1995.
A. Ailon,
"Controllerobservers for pointtopoint control of 'fullmodel' flexiblejoint
robots," Proceedings of the 3rd FrenchIsraeli Symposium on Robotics,
Herzlia, Israel, May 1995.
A. Ailon, M.
Gladstein, and M. Berman, "A simple stabilizable linear output controller
for a flexiblejoint 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 setpoint 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,
ClujNapoca, Romania, May 1997.
M. I. Gil' and A.
Ailon, "Inputoutput stability of nonlinear nonautonomous systems," Proceedings
of the American Control Conference, Albuquerque, USA, June 1997.
A. Ailon and B.H.
Ahn, "Realtime intelligent setpoint controllers for uncertain models of
mechanical manipulators driven by brush DC motors," The Fifth BarIlan
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
flexiblejoint 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 outputfeedback 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 pointtopoint 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 setpoint regulation of electrically driven flexiblejoint 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,
"Outputbased 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 flexiblejoint 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 outputbased stabilizing
controller for attitude regulation of a rigid spacecraft with gasjet
actuators," Proceedings of the 2001 American Control Conference,
Arlington, Virginia, USA, June 2001.
A. Ailon, R. Segev,
B. Grinberg, and M. I. Gil', "Velocityfree 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 timeinvariant 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 setpoint 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 flexiblejoint 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 pointtopoint 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 timedelay 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),
I. Levi, N. Berman,
and A. Ailon, "Robust adaptive nonlinear control for robot
manipulators," Proceedings of the 15th
Mediterranean Conference on Control and Automation,
A. Ailon,
"Motion planning and optimal control of an autonomous aircraft," Proceedings
of the 6th IFAC Symposium on Intelligent Autonomous Vehicles (IAV),
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),
I. Levi, N. Berman,
and A. Ailon, Nonlinear adaptive Hinfinity output feedback tracking control
for robotic systems, Proceedings of the International Federation of
Automatic Control (IFAC) Convention,
A. Ailon and I.
Zohar, Pointtopoint control and trajectory tracking in wheeled mobile
robots: some further results and applications, Proceedings of the
International Federation of Automatic Control (IFAC) Convention,
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,
A. Ailon,
Trajectory tracking for UAVs with bounded inputs and some associated
applications, Proceedings of the 6th IFAC Symposium on Robust Control Design,
I. Zohar, A. Ailon,
and R. Rabinovici, Controllers for a mobile robot dynamic model that includes
the actuator dynamics: trajectory tracking and control for convoylike
vehicles, Proceedings of the 17th Mediterranean Conference on Control and
Automation,
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 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 unicyclelike and skidsteering
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, Closedform feedback controllers for
setpoint 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 2022, 2012.
I. Zohar, A. Ailon, and H. Guterman, "Simple controllers for the nonlinear model of quadrotor helicopters," Proceedings of the Itzhack Y. BarItzhack Memorial Symposium on Estimation, Navigation, and Spacecraft Control, Haifa, Israel, October 1417, 2012.
A. Ailon, "Control strategies for groups of autonomous wheeled mobile robots with restricted inputs," Proceedings of the IEEE 27th Convention of Electrical and Electronics Engineers in Israel, Eilat Nov. 1417 2012.
I. Zohar, A. Ailon, and H. Guterman, "A simple controller for the nonlinear model of quadrotor helicopters and its application to visionbased landing," Proceedings of the 2013 Congress on Advances in Nano, Biomechanics, Robotics, and Energy Research, Seoul, Korea August 2528, 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 1113. 2013.
A. Ailon and S. Arogeti, " Formation control strategies for autonomous quadrotortype
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 timedelays in an outputbased
altitude/attitude controller on quadrotortype 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 convoylike 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.