I am a PhD student in the Department of Electrical and Computer Engineering at the University of California, Los Angeles, working in the Cyber Physical Systems Laboratory with Prof. Paulo Tabuada. I received my MS in Electrical and Computer Engineering from UCLA in 2025 and my BScEng (Honours) in Electrical and Electronic Engineering from the University of Peradeniya in 2023.

My research interests include nonlinear control, safety-critical control, state estimation, and optimization. My research focuses on extending the theoretical guarantees of control barrier functions to account for uncertainty in real-world systems. I aim to develop methods that are practical to implement while retaining rigorous guarantees. I have also worked on nonlinear observers with online error bounds and applications of dynamical systems theory to viral dynamics and epidemic models. I am drawn to both the mathematical foundations of control theory and its practical applications.

Selected publications

Google Scholar

Journal papers

Conference papers

Workshop presentations

Safety Under State Uncertainty: Robustifying Control Barrier Functions

Rahal Nanayakkara, Ersin Daş, Xiao Tan, Aaron Ames, Paulo Tabuada

45th Southern California Control Workshop [Workshop]

Experience

Sep 2023–present · Los Angeles

University of California, Los Angeles

Graduate Student Researcher

Nonlinear control and estimation, including robust control barrier functions, online observer error bounds, LiDAR localization, and networked epidemic models.

Jun–Sep 2025 · Seattle

Amazon Prime Air

Applied Scientist Intern (L5)

Worked on the Guidance, Navigation, and Control (GNC) team, implementing multipath mitigation techniques to improve positioning accuracy in GNSS-degraded environments.

Mar–Aug 2023 · Sri Lanka

University of Peradeniya

Research Assistant

Fetal health monitoring using sensory data from abdomen-mounted inertial sensors.

Aug–Nov 2022 · Sri Lanka

Vega Innovations

Electronic Engineering Intern

Worked on flux-weakening control for high-speed operation of permanent-magnet synchronous motors and over-the-air firmware updates for embedded microcontrollers.

News & milestones

  • New papers on safety under state uncertainty, recursive CBFs, and viral dynamics are listed in the publications section.

  • Worked as an Applied Scientist Intern at Amazon Prime Air in Seattle.

  • Received my MS in Electrical and Computer Engineering from UCLA.

  • Presented my research on safety-critical control at the 45th Southern California Control Workshop.

  • Our paper on nonlinear observers with tighter online error bounds appeared at CDC 2024.

Earlier updates

Beyond research

Academic service

Peer review

Journal reviewer for Automatica (2026), IEEE Control Systems Letters (2025, 2026), and IEEE Robotics and Automation Letters (2026).

Conference reviewer for ICRA (2027), CDC (2026), and ICIIS (2025).