Latest Updates

April 2024

The paper titled "Two-Layer Model Reference Adaptive Control for Uncertain Hybrid Dynamical Systems" has been accepted for publication in the Journal of the Franklin Institute

March 2024

Dr. L'Afflitto has been selected as 2024 Visiting Professor at BOEING.

The ACSL student Giri M. Kumar passed his qualifying exam. Congratulations, Giri!

February 2024

A video on our recent work on adaptive funnel control has been posted on YouTube. Theoretical result are summarized in the paper "Two-layer Adaptive Funnel MRAC with Applications to the Control of Multi-Rotor UAVs" submitted to the IFAC International Workshop on Robot Motion and Control.

The ACSL student Paul Binder passed his MS thesis defense in Aerospace Engineering! Congratulations, Paul!

Jaunuary 2024

Dr. L'Afflitto has been recognized for his autstanding contributions as an associate editor for the IEEE Transactions on Aerospace and Electronic Systems.

December 2023

The paper titled "MRAC with Adaptive Uncertainty Bounds via Operator-Valued Reproducing Kernels" has been accepted for publication in the IEEE Control Systems Letters.

The ACSL student Mattia Gramuglia graduated summa cum laude from the Polytechnic of Milan. Congratulations, Mattia!

The ACSL student Haoran Wang passed his qualifying exam. Congratulations, Haoran!

November 2023

The contributed book Control of Autonomous Aerial Vehicles published by Springer is now in press.

October 2023

The ACSL student Hudson Smith successfully passed the defense of his MS thesis titled "Safe Stopping Distances and Times for Industrial Robotics" produced in a collaboration with ABB and TU Darmstadt

Numerical simulation results of a novel model reference adaptive control law and a novel control system for quad-biplane UAVs are illustrated in this YouTube video

Dr. L'Afflitto has been hosted at the University of Napoli "Parthenope", Polytechnic of Turin, and Polytechnic of Milan, and presented his recent works.

Research Sponsors

DARPA
NSF
ARL-RCTA
ONR
US Navy
NOAA

Research Partners

Army Research Lab
NAVAIR
AFRL
Polytechnic of Turin

Curriculum Vitae

My CV (Full-length)

My CV (In brief)

Contact

Email: a.lafflitto@vt.edu

Phone: +1 540-231-4926

Fax: +1 540-231-3322

  • Differential Games and partial-state stabilization
  • Optimal control for linear and nonlinear semistabilization
  • Abnormal optimal control of mechanical systems
  • Finite-time partial stability and stabilization, and optimal feedback control

Books

  1. A. J. Kurdila, A. L'Afflitto, and J. A. Burns. Robust and Adaptive Control of Nonlinear Systems over Native Spaces, Springer, London, UK; Under review
  2. A. L'Afflitto, G. Inhalan, and H.-S. Shin (eds.). Control of Autonomous Aerial Vehicles: Advances in Autopilot Design for Civilian UAVs, Springer, London, UK. The foreword has been kindly provided by Professor R. Beard;
  3. A. L'Afflitto. A Mathematical Perspective on Flight Dynamics and Control, Springer, London, UK. The foreword has been kindly provided by Professor R. Beard;

Book Chapters

  1. G. M. Kumar+, M. Gramuglia+, and A. L'Afflitto. Robust Hybrid Model Reference Adaptive Control and Output-Feedback Linearization with Applications to Quadcopter UAVs, in 'Latest Adaptive Control Systems ', (ISBN 978-3031397660), April 2024, InTech;
  2. J. A. Marshall+, P. A. Binder+, and A. L'Afflitto. Autonomous Multi-Rotor Unmanned Aerial Vehicles and Tactical Coverage, in 'Control of Autonomous Aerial Vehicles: Advances in Autopilot Design for Civilian UAVs', (ISBN 978-3031397660), Dec. 2023, Springer;

    3. The associated YouTube video is available here

  3. K. Mohammadi+, A. L'Afflitto. Robust Adaptive Output Tracking for Quadrotor Helicopters, in 'Adaptive Robust Control and its Applications' (ISBN 978-953-51-5729-8), Mar. 2018, InTech;
  4. A. L'Afflitto, W. M. Haddado. A Variational Approach to the Fuel Optimal Control Problem for UAV Formations, in 'Recent Advances in Aircraft Technology' (ISBN 979-953-307-635-4), Feb. 2012, InTech;
    5.
+: Dr. L'Afflitto's student advisee; oDr. L'Afflitto's faculty adviser

Journal Papers

  1. S. Niu+, A. Bouland, H. Wang+, F. Fotiadis, A. Kurdila, A. L'Afflitto, S. T. Paruchuri, and K. G. Vamvoudakis. Convergence Rates of Online Critic Value Function Approximation in Native Spaces, IEEE Control Systems Letters - Submitted;
  2. N. Powell, J. Guo, H. Wang+, A. L'Afflitto, J. Burns, and A. Kurdila. Greedy Native Space Embedding MRAC via Newton Bases, International Journal of Adaptive Control and Signal Processing - Submitted;
  3. H. Wang+, A. Kurdila, A. L'Afflitto, D. Oesterheld, and D. Stilwell. Robust Model Reference Adaptive Control Based on Reproducing Kernel Hilbert Spaces, IEEE Transactions on Automatic Control - Submitted;
  4. J. A. Marshall+ and A. L'Afflitto. Model Reference Adaptive Control of a Tailsitter UAV with Unwinding Constraints, Journal of Intelligent and Robotic Systems - Submitted;

    5. The associated YouTube video is available here

  5. M. Gramuglia+, G. M. Kumar+, and A. L'Afflitto. Two-Layer Model Reference Adaptive Control for Uncertain Hybrid Dynamical Systems, Journal of the Franklin Institute - Accepted;
  6. H. Wang+, B. Scurlock+, N. Powell, A. L'Afflitto, and A. J. Kurdila. MRAC with Adaptive Uncertainty Bounds via Operator-Valued Reproducing Kernels, Control Systems Letter - Vol. 7, Dec. 2023, pp. 3771-3776;
  7. A. L'Afflitto. Model Reference Adaptive Control for Nonlinear Time-Varying Hybrid Dynamical Systems, International Journal of Adaptive Control and Signal Processing - Vol. 37, 8, May 2023, pp. 2162-2183;
  8. J. A. Marshall+, W. Sun, and A. L'Afflitto. A Survey of Guidance, Navigation, and Control Systems for Autonomous Multi-Rotor Unmanned Aerial Vehicles, Annual Reviews in Control - Vol. 52, December 2021, pp. 390-427;
  9. J. A. Marshall+, R. B. Anderson+, W.-Y. Chien, E. N. Johnson, and A. L'Afflitto. A Guidance System for Tactical Autonomous Unmanned Aerial Vehicles, Journal of Intelligent & Robotic Systems - Vol. 103, 71, November 2021, pp. 1-36;

    10. The associated YouTube video is available here

  10. R. B. Anderson+, J. A. Marshall+, and A. L'Afflitto. Novel Model Reference Adaptive Control Laws for Improved Transient Dynamics and Guaranteed Saturation Constraints, Journal of the Franklin Institute - Vol. 358, 12, August 2021, pp. 6281-6308;
  11. R. B. Anderson+, J. A. Marshall+, and A. L'Afflitto. Constrained Robust Model Reference Adaptive Control of a Tilt-Rotor Quadcopter Pulling an Unmodeled Cart, IEEE Transactions on Aerospace and Electronic Systems - Vol. 57, 1, February 2021, pp. 39-54;

    12. The associated YouTube video is available here

  12. R. B. Anderson+, J. A. Marshall+, A. L'Afflitto, and J. M. Dotterweich. Model Reference Adaptive Control of Switched Dynamical Systems with Applications to Aerial Robotics, Journal of Intelligent & Robotic Systems - Vol. 100, 3, Nov. 2020, pp. 1265-1281;

    13. The associated YouTube video is available here

  13. A. L'Afflitto and T. A. Blackford+. Constrained Dynamical Systems, Robust Model Reference Adaptive Control, and Unreliable Reference Signals, International Journal of Control - Vol. 93, 5, June 2018, pp. 1039-1052;
  14. A. L'Afflitto. Barrier Lyapunov Functions and Constrained Model Reference Adaptive Control, IEEE Control Systems Letters - Vol. 2, 3, May 2018, pp. 441-446;
  15. A. L'Afflitto, R. B. Anderson+, and K. Mohammadi+. An Introduction to Nonlinear Robust Control for Unmanned Quadrotor Aircraft, IEEE Control Systems Magazine - Vol. 38, 3, May 2018, pp. 102-121;

    The associated Simulink toolbox A Simulator for quadrotors by R. B. Anderson and A. L'Afflitto can be found here

  16. A. L'Afflitto and K. Mohammadi+. Equations of Motion of Rotary-Wing UAS with Time-Varying Inertial Properties, AIAA Journal of Guidance, Control, and Dynamics - Vol. 41, 2, Feb. 2018, pp. 559-564;
  17. A. L'Afflitto and W. M. Haddado. Abnormal Optimal Trajectory Planning of Multi-Body Systems in the Presence of Holonomic and Nonholonomic Constraints, Journal of Intelligent & Robotic Systems - Vol. 89, 1, Jan. 2018, pp. 51-67;
  18. A. L'Afflitto and K. Mohammadi+. Robust Observer-Based Control of Nonlinear Dynamical Systems with State Constraints, Journal of the Franklin Institute - Vol. 354, 16, Nov. 2017, pp. 7385-7409;
  19. A. L'Afflitto. Differential games, continuous Lyapunov functions, and stabilisation of non-linear dynamical systems, IET Control Theory and Applications - Vol. 11, 15, Oct. 2017, pp. 2486 – 2496;
  20. A. L'Afflitto. Differential Games, Partial-State Stabilization, and Model Reference Adaptive Control, Journal of the Franklin Institute - Vol. 354, 1, Jan. 2017, pp. 456-478;
  21. A. L'Afflitto. Differential Games, Finite-Time Partial-State Stabilization of Nonlinear Dynamical Systems, and Optimal Robust Control, International Journal of Control - Vol. 90, 9, Sept. 2017, pp. 1861-1878;
  22. W. M. Haddado and A. L'Afflitto. Finite-Time Stabilization and Optimal Feedback Control, IEEE Transactions on Automatic Control - Vol. 61, 4, Apr. 2016, pp. 1069-1074;
  23. A. L'Afflitto and W. M. Haddado. Optimal Singular Control for Nonlinear Semistabilization, International Journal of Control - Vol. 89, 6, Jan. 2016, pp. 1222-1239;
  24. A. L'Afflitto, W. M. Haddado, and E. Bakolas. Partial-State Stabilization and Optimal Control, International Journal of Robust and Nonlinear Control - Vol. 26, 5, Apr. 2015, pp. 1026-1050;
  25. W. M. Haddado and A. L'Afflitto. Finite-Time Partial Stability, Stabilization, and Optimal Feedback Control, Journal of the Franklin Institute, Vol. 352, 6, Mar. 2015, pp. 2329-2357;
  26. A. L'Afflitto, W. M. Haddado, and Q. Hui. Optimal Control for Linear and Nonlinear Semistabilization, Journal of the Franklin Institute, Vol. 352, 3, Mar. 2015, pp. 851-881;
  27. E. Rabbow, G. Horneck, P. Rettberg, J. U. Schott, C. Panitz, A. L'Afflitto, et al. EXPOSE, an Astrobiological Exposure Facility on the International Space Station - from Proposal to Flight, Origin of Life and Evolution of Biosphere, Vol. 39, 6, Dec. 2009, pp. 581-598.
    28.

Workshop Organization

  1. M. Mammarella, G. Inalhan, and A. L'Afflitto. Controls for Aerospace Applications: Current Solutions to Future Challenges, IEEE Conference on Control Technology and Applications, August 2023;

Workshop Presentations

  1. J. A. Marhsall+ and A. L'Afflitto. Constrained Model Reference Adaptive Control with Applications to Tail-Sitter UAV Control Systems Design, IEEE Conference on Control Technology and Applications, Barbados, August 2023;
  2. A. L'Afflitto, R. B. Anderson+, and J. A. Marshall+. Robust adaptive control of multi-rotor UAVs, American Control Conference, Philadelphia, PA, July 2019;

Conference Papers

  1. S. Niu+, A. Bouland, H. Wang+, F. Fotiadis, A. Kurdila, A. L'Afflitto, S. T. Paruchuri, and K. G. Vamvoudakis. Convergence Rates of Online Critic Value Function Approximation in Native Spaces, IEEE Conference on Decision and Control, Milan, Italy, December 2024; Submitted;
  2. J. Mukherjee+, G. M. Kumar+, A. L'Afflitto, H. White +, and C. Sandu. Terrain Topology-Informed Motion Planning for Tactical UGVs, IEEE International Conference on Control, Decision, and Information Technologies, Valletta, Malta, July 2024; Submitted;
  3. M. Gramuglia+, G. M. Kumar+, and A. L'Afflitto. Two-layer Adaptive Funnel MRAC with Applications to the Control of Multi-Rotor UAVs, International Workshop on Robot Motion and Control, Poznan, Poland, July 2024; Submitted;

    The accompaning video is available here

  4. N. Powell, S. T. Paruchuri, A. Bouland, S. Niu, A. Kurdila, and A. L'Afflitto. A New Result on Invariance and Approximation of Koopman Operators for Discrete Dynamics in Native Spaces, International Symposium on Mathematical Theory of Networks and Systems, Cambridge, UK, August 2024; Accepted;
  5. N. Powell, A. J. Kurdila, A. L'Afflitto, H. Wang+, and J. Guo. Newton Bases and Event-Triggered Adaptive Control in Native Spaces, IEEE American Control Conference, Toronto, Canada, July 2024; Accepted;
  6. H. Wang+, B. Scurlock+, N. Powell, A. L'Afflitto, and A. J. Kurdila. MRAC with Adaptive Uncertainty Bounds via Operator-Valued Reproducing Kernels, IEEE American Control Conference, Toronto, Canada, July 2024; Accepted;
  7. M. Gramuglia+, G. M. Kumar+, and A. L'Afflitto. A Hybrid Model Reference Adaptive Control System for Multi-Rotor Unmanned Aerial Vehicles, AIAA SciTech, Orlando, FL, January 2024; Invited paper;

    The accompaning video is available here

  8. H. Wang+, N. Powell, A. L'Afflitto, A. J. Kurdila, and J. A. Burns. The Power Function for Adaptive Control in Native Space Embedding, IEEE Conference on Decision and Control, Singapore, December 2023;
  9. H. White+, C. Sandu, J. Mukherjee+, A. L'Afflitto, D. Gorsich, and M. Cole. Real-Time Measurement of Tire Sinkage using Stereo Cameras, International Society for Terrain-Vehicle Systems Conference, Lublin, Poland, October 2023;
  10. J. A. Marshall+, P. Binder+, and A. L'Afflitto. An Optimization-Based Guidance System for Tactical Multi-Rotor UAVs Mapping Contested Environments, CCTA, Bridgetown, Barbados, August 2023;

    The accompaning video is available here

  11. J. A. Marshall+, G. I. Carter+, and A. L'Afflitto. Model Reference Adaptive Control for Prescribed Performance and Longitudinal Control of a Tail-Sitter UAV, AIAA SciTech, San Diego, CA, January 2022; Invited paper;

    A presentation video is available here

  12. H. White+, J. Mukherjee+, A. L'Afflitto, and C. Sandu. Terrain Sensing Techniques and Algorithms: A Review, International Society for Terrain-Vehicle Systems Conference, Montreal, Canada, September 2021;
  13. R. B. Anderson+, J. A. Marshall+, J.-P. P. Burke+, and A. L'Afflitto. Robust Adaptive Control of a Tilt-Rotor Quadcopter with Unknown Inertial Properties, American Control Conference, Philadelphia, PA, July 2019;
  14. A. L'Afflitto. Barrier Lyapunov Functions and Constrained Model Reference Adaptive Control, IEEE Conference on Decision and Control, Miami, FL, December 2018;
  15. A. L'Afflitto. Robust Adaptive Control for Constrained Dynamical Systems Following Unreliable Reference Signals, American Control Conference, Milwaukee, WI, July 2018;
  16. K. Mohammadi+ and A. L'Afflitto. A Continuous First-Order Sliding Mode Control Law, Dynamic Systems and Control Conference, Tysons Corner, VA, October 2017;
  17. A. L'Afflitto. Differential Games, Asymptotic Stabilization, and Robust Optimal Control of Nonlinear Systems, IEEE Conference on Decision and Control, Las Vegas, NV, December 2016;
  18. A. L'Afflitto and W. M. Haddado. Optimal Singular Control for Nonlinear Semistabilization, American Control Conference, Chicago, IL, July 2015;
  19. W. M. Haddado and A. L'Afflitto. Finite-Time Partial Stability Theory and Fractional Lyapunov Differential Inequalities, American Control Conference, Chicago, IL, July 2015;
  20. A. L'Afflitto and W. M. Haddado. Necessary Conditions for Control Effort Minimization of Euler-Lagrange Systems, AIAA Guidance, Navigation, and Control Conference, AIAA Science and Technology Forum, Kissimmee, FL, January 2015;
  21. A. L'Afflitto, W. M. Haddado, and E. Bakolas. Partial-State Stabilization and Optimal Feedback Control, IEEE Conference on Decision and Control, Los Angeles, CA, December 2014;
  22. A. L'Afflitto, W. M. Haddado, and Q. Hui. Optimal Control for Linear and Nonlinear Semistabilization, American Control Conference, Portland, OR, June 2014;
  23. A. L'Afflitto and W. M. Haddado. Singular Linear-Quadratic Control for Semistabilization, IEEE Conference on Decision and Control, Florence, Italy, December 2013;
  24. W. M. Haddado, Q. Hui, and A. L'Afflitto. Semistabilization, Feedback Dissipativation, System Thermodynamics, and Limits of Performance, American Control Conference, Washington, DC, June 2013;
  25. A. L'Afflitto and C. Sultano. On The Optimal Spacecraft Fuel Consumption in Low Earth Orbit, IFAC Conference, Milan, Italy, August 2011;
  26. A. L'Afflitto and C. Sultano. On the Fuel and Energy Consumption Optimization Problem in Aircraft Path Planning, IEEE Conference on Decision and Control, Atlanta, GA, USA, December 2010;
  27. A. L'Afflitto and C. Sultano. On Calculus of Variations in Aircraft and Spacecraft Formation Flying Path Planning, AIAA Conference on Guidance, Navigation, and Control, Toronto, Canda, August 2010;
  28. A. L'Afflitto and C. Sultano. Calculus of Variations for Guaranteed Optimal Path Planning of Aircraft Formations, IEEE Conference on Robotics and Automation, Anchorage, AK, USA, May 2010;
  29. A. L'Afflitto and C. Sultano. Applications of Calculus of Variations to Aircraft and Spacecraft Path Planning, AIAA Conference on Guidance, Navigation, and Control, Chigago, IL, USA, August 2009;
  30. J. Zyiwicki, A. L'Afflitto, E. Rabbow, R. Willnecker, J. Shieman. EXPOSE-E: Application of a decentralized payload operations concept for European Payloads on the ISS, IAF International Astronautical Conference, Glasgow, Scotland, September 2008;
  31. E. Rabbow, A. L'Afflitto, C. Paniz, and G. Reitz. EXPOSE-E - The Astrobiological Exposure Facility on ISS - from proposal to flight, IAF International Astronautical Conference, Glasgow, Scotland, September 2008;
  32. A. L'Afflitto. Concurrent Engineering in Space Systems Design: a Test Case at the Italian Space Agency, Pegasus/AIAA Students Conference, Napoli, Italy, April 2007.
    33.

Invited Talks

  1. Advances in Fast Model Predictive Control and Constrained Model Reference Adaptive Control for Aerial Robotics Applications. Polytechnic of Milan, Italy, October 2023;
  2. Advances in Fast Model Predictive Control and Constrained Model Reference Adaptive Control for Aerial Robotics Applications. Polytechnic of Turin, Italy, October 2023;
  3. Advances in Fast Model Predictive Control and Constrained Model Reference Adaptive Control for Aerial Robotics Applications. University of Napoli "Parthenope", Italy, October 2023;
  4. Advances in Model Reference Adaptive Control: Fast Transients, Constrained Errors, and Hybrid Systems. Forum on Robotics and Control Engineering (online), April 2023;
  5. Advances in Fast Model Predictive Control and Constrained Model Reference Adaptive Control for Aerial Robotics Applications. University of New Mexico, March 2023;
  6. Guidance and Control of UAVs for Autonomous Logistics. Beijing Institute of Technology (online), June 2022;
  7. From Dynamics and Control Theory To Robotic Applications for DoD. University of Maryland, MD, February 2022;
  8. From tactical mapping to sensor placement: Advances in the guidance and control of small autonomous unmanned aerial vehicles. GSERITA 2021, Lisbona, Portugal, September 2021;
  9. From Tactical Operations to Sensor Placement and Shipboard Landing. M&S Community of Interest Joint Army/Navy UAV Workshop, June 2021;
  10. Model reference adaptive control and UAS autopilot design (5 lecture seminar series).. NAVAIR, Patuxent River, MD, June-August 2019;
  11. Model reference adaptive control and UAS autopilot design.. University of Napoli, Italy, "Federico II", May 2018;
  12. From theory to practice: A nonlinear robust control to assist quadrotor pilots in adverse conditions. Naval Future Force Science and Technology Expo 2017;
  13. Robust Control, Optimal Control, and Differential Games. University of New Mexico, October 2016;
  14. Optimal Control and Differential Games: From Spacecraft Attitude Control to Formation Flying. Kirtland Air Force Base, August 2016;
  15. Robust Control, Optimal Control, and Differential Games. Wright-Patterson Air Force Base, July 2016;
  16. Optimal Control and Differential Games: From Spacecraft Attitude Control to Formation Flying. Italian Center for Aerospace Research (CIRA) -- May 2016;
  17. Research Challenges in Control Theory for Aerospace Applications. Italian Center for Aerospace Research (CIRA) -- May 2016.
  18. Feedback Optimal Control, Robust Control, and Differential Games: Theory, Numerical Solutions, and Applications.. Oak Ridge National Laboratory (ORNL) - April 28, 2016. -- April 2016.