publications

Selected publications

2022

  1. IEEE CDC
    Safety Critical Path Following Controls for a Car-like Robot
    Akhtar, A., Garg, K., and Sanfelice, R.
    IEEE Control and Decision Conference (CDC), to-be-submitted 2022
  2. IEEE CDC
    Hybrid Geometric Hybrid Controllers for Fully Actuated Systems on Lie Groups
    Akhtar, A., and Sanfelice, R.
    IEEE Control and Decision Conference (CDC), to-be-submitted 2022
  3. IEEE TMECH
    Theoratical and Experimental Verifications of Feedback Linearizing Controllers on SO(3) using a Global Parametrization
    Akhtar, A., Saleem, S., and Shan, J.
    IEEE Transactions on Mechatronics, (submitted) 2022
  4. IEEE TIE
    Path Following of a Quadrotor with a Cable-Suspended Payload
    Akhtar, A., Saleem, S., and Shan, J.
    IEEE Transactions on Industrial Electronics, (accepted) 2022
  5. IEEE ACC
    A Class of Global Geometric Hybrid Controllers on unit circle
    Akhtar, A., and Sanfelice, R.
    IEEE American Control Conference (ACC), accepted 2022
  6. IEEE ACC
    Coordinated Path Following for a Class of Underactuated Multi-agent System using Nested Set Stabilization
    Akhtar, A.
    IEEE American Control Conference (ACC), accepted 2022
  7. IEEE TAC
    Control of Simple Mechnical Systems on Lie roups using Lie Algebra Valued Functions
    Akhtar, A., and Lewis, Andrew
    IEEE Transactions on Automatic Control (to-be-submitted) 2022

2021

  1. IEEE TCST
    Path Invariant Controllers for a UAV with a Cable-suspended Payload using a Global Parameterization
    Akhtar, A., Saleem, S., and J. Shan,
    IEEE Transactions on Control Systems Technology 2021
  2. Tech. Report
    Technical Report: Path Following of a Quadrotor with a Cable-Suspended Payload
    Akhtar, A., Saleem, S., and Shan, J.
    2021

2020

  1. IEEE TAC
    Controller Class for Rigid Body Tracking on SO(3)
    Akhtar, A., and Waslander, S.
    IEEE Transactions on Automatic Control 2020
  2. IEEE Access
    Path Following for a Class of Underactuated Systems Using Global Parameterization
    Akhtar, A., Saleem, S., and Waslander, S. L.
    IEEE Access 2020

2019

  1. IEEE ACC
    Feedback Linearizing Controllers on SO(3) using a Global Parametrization
    Akhtar, Adeel, Saleem, Sajid, and Waslander, Steven L.
    In 2020 American Control Conference (ACC) 2019

2018

  1. Ph.D Thesis
    Nonlinear and Geometric Controllers for Rigid Body Vehicles
    Akhtar, Adeel,
    2018

2015

  1. IEEE T-RO
    Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots
    Akhtar, A., Nielsen, C., and Waslander, S. L.
    IEEE Transactions on Robotics 2015

2013

  1. IEEE CDC
    Fault tolerant path following for a quadrotor
    Akhtar, A., Waslander, S.L., and Nielsen, C.
    In 52nd IEEE Conference on Decision and Control (CDC) 2013

2012

  1. AIAA
    Relative Position-Based Visual Servoing Control for Quadrotors
    Tribou, M., Akhtar, A., and Waslander, S. L.
    In American Institute of Aeronautics and Astronautics (AIAA) Guidance, Navigation, and Control Conference 2012
  2. IEEE CDC
    Path following for a quadrotor using dynamic extension and transverse feedback linearization
    Akhtar, Adeel, Waslander, Steven L., and Nielsen, Christopher
    In 51st IEEE Conference on Decision and Control (CDC) 2012

2011

  1. IEEE CDC
    Path following for a car-like robot using transverse feedback linearization and tangential dynamic extension
    Akhtar, A., and Nielsen, C.
    In 50th IEEE Conference on Decision and Control and European Control Conference, (CDC)-ECC 2011
  2. MS. Thesis
    Dynamic path following controllers for planar mobile robots
    Akhtar, A.
    2011