AMIT AILON

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; 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. 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.

 

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.