HAVLab Publications

  • Poultney, A., Gong, P., Ashrafiuon, H., 2016, “Integral Backstepping Trajectory Tracking and Yaw Control of Quadrotors,” ASME Journal of Dynamic Systems, Measurement and Control, under review.
  • Poultney, A., Kennedy, C., Clayton, G., Ashrafiuon, H., 2016, “Simulations and Experimental Validation of a New Feedback Linearized Quadrotor Controller,” IEEE Transactions on Control Systems Technology, under review.
  • Whitman, A., Clayton, G., Poultney, A., Ashrafiuon, H., “Asymptotic Inverse Solution and Trajectory Planning for Open-Loop Control of Mobile Robots,” ASME Journal of Dynamic Systems, Measurement and Control, under review.
  • Ashrafiuon, H., Nersesov, S.G., Clayton, G., 2016, “Trajectory Tracking Control of Planar Underactuated Vehicles,” IEEE Transactions on Automatic Control, DOI: 10.1109/TAC.2016.2584180.
  • Ashrafiuon, H., 2016, “Guidance and Attitude Control of Unstable Rigid Bodies with Single-Use Thrusters,” IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2016.2572165.
  • Ghasemi, M., Nersesov, S. G., Clayton. G., and Ashrafiuon, H., 2014, “Sliding Mode Coordination Control for Multiagent Systems with Underactuated Agent Dynamics,” International Journal of Control, 87(12):2615-2633.
  • Nersesov, S. G., Ashrafiuon, H., and Ghorbanian, P., 2014, “On Estimation of the Domain of Attraction for Sliding Mode Control of Underactuated Nonlinear Systems,” International Journal of Robust and Nonlinear Control, 24(5):811-824.
  • Mahini, F., DiWilliams, L., Burke, K., and Ashrafiuon, H., 2013, “An Experimental Setup for Autonomous Operation of Surface Vessels in Rough Seas,” Robotica, 31(5):703-715.
  • Ashrafiuon, H., Whitman, A. M., 2012, “Closed-Loop Dynamic Analysis of a Rotary Inverted Pendulum for Control Design,” ASME Journal of Dynamic Systems, Measurement and Control, 134(2):024503-024503-9, doi: 10.1115/1.4005358.
  • Soltan, R. A., Ashrafiuon, H., and Muske, K. R., 2011, “ODE based Obstacle Avoidance and Trajectory Planning for Unmanned Surface Vessels,” Robotica, 29(5):691-703.
  • Whitman, A. M., Ashrafiuon, H., and Muske, K. R., 2011, “Analytical Stability Analysis of Surface Vessel Trajectories for a Control-oriented Model,” ASME Journal of Computational and Nonlinear Dynamics, 6(3), doi: 10.1115/1.4002976.
  • Ghorbanian, P., Nersesov, S. G., and Ashrafiuon, H., 2011, “Obstacle Avoidance in Multi-Vehicle Coordinated Motion via Stabilization of Time-Varying Sets,” Journal of Nonlinear Systems and Applications, 2(1-2):1-8.
  • McNinch, L. C., Soltan, R. A., Muske, K. R., Ashrafiuon, H., and Peyton-Jones, J. C., 2011, “Real-time Coordinated Trajectory Planning and Obstacle Avoidance for Mobile Robots,” Journal of Automation, Mobile Robotics & Intelligent Systems, 5(1):23-29.
  • Ashrafiuon, H., Muske, K. R., McNinch, L. C., and Soltan, R., 2008, “Sliding Model Tracking Control of Surface Vessels,” IEEE Transactions on Industrial Electronics SS on Sliding Mode Control in Industrial Applications, 55(11):4004-4012.


Contact Us

Dr. Hashem Ashrafiuon
800 Lancaster Ave
Villanova University
Villanova, PA 19085


  • To conduct fundamental and applied research in the areas of nonlinear dynamics and control.
  • To apply advanced theoretical and experimental techniques to solve real world problems.
  • To promote and foster strong interdisciplinary research at Villanova capitalizing on our collegial atmosphere.
  • To aid in the educational process of our undergraduate and graduate students by encouraging and funding their involvement in the research projects.
  • To develop and transfer technology to the industry consistent with the industry's needs and vision ultimately enhancing their competitiveness.