Paul Ghanem

Lebanese American University, University of Maryland, College Park, Northeastern University

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About

Paul Ghanem is a control theorist and roboticist whose work bridges nonlinear dynamics, bio-inspired robotics, and multi-agent systems. His research centers on developing advanced control strategies for complex mechanical systems—particularly those with nonholonomic constraints or limited sensing. Ghanem’s most influential contribution is a multivariable stochastic tracking controller for robot manipulators that operates without joint velocity measurements, a significant practical advance for simplifying sensor requirements while maintaining smooth torque signals and robust tracking performance (36 citations). More recently, he has pioneered the use of the canonical Chaplygin sleigh—a classic nonholonomic system—to model the swimming dynamics of robotic fish. In a series of papers (2020–2021), Ghanem designed and experimentally validated nonlinear formation controllers enabling a school of such fish to stabilize parallel and circular motion using only internal reaction wheels. This work represents a rare integration of rigorous analytical mechanics with real-world multi-robot experiments, opening new pathways for underwater swarm robotics. Ghanem’s research is distinguished by its elegant mathematical foundations and clear practical relevance, making him a rising figure in the control of nonholonomic and underactuated systems.