9 papers · 1 filter
Exactness Certificates for Closed-Form CBF Safety-Filter Projections
Ankit Goel
For control-affine systems, standard and high-order control barrier function conditions are affine in the control input and are commonly enforced through quadratic-program-based sa…
Feedback Linearization-Based Guidance with Zero-Dynamics Correction for Guaranteed Interception
Alexander Dorsey, Ankit Goel
This paper develops a guidance law for nonlinear interception using input-output feedback linearization (IOL). The engagement between a pursuer and an evader is modeled using point…
Model-Free Dynamic Mode Adaptive Control for Data-Driven Control Synthesis
Parham Oveissi, Ankit Goel
This paper presents a model-free, data-driven control synthesis method called dynamic mode adaptive control (DMAC) for systems whose mathematical models are unavailable or unsuitab…
Sensor-Noise Mitigation in Extremum Seeking Control Using Adaptive Numerical Differentiation
Shashank Verma, Juan Augusto Paredes Salazar, Jhon Manuel Portella Delgado +2
Extremum-seeking control (ESC) is widely used to optimize performance when the system dynamics are uncertain. However, sensitivity to sensor noise is a crucial issue in ESC impleme…
Stability Preserving Safe Control of a Bicopter
Jhon Manuel Portella Delgado, Ankit Goel
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a…
Continuous-Time Output Feedback Adaptive Control for Stabilization and Tracking with Experimental Results
Mohammad Mirtaba, Ankit Goel
This paper presents a continuous-time output feedback adaptive control technique for stabilization and tracking control problems. The adaptive controller is motivated by the classi…