3 papers
eess.SY2025
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…
math.OC2025
Computing Invariant Zeros of a MIMO Linear System Using State-Space Realization
Jhon Manuel Portella Delgado, Ankit Goel
Poles of a multi-input multi-output (MIMO) linear system can be computed by solving an eigenvalue problem; however, the problem of computing its invariant zeros is equivalent to a…
math.OC2024
Singularity-free Backstepping-based Adaptive Control of a Bicopter with Unknown Mass and Inertia
Jhon Manuel Portella Delgado, Ankit Goel
The paper develops a singularity-free backstepping-based adaptive control for stabilizing and tracking the trajectory of a bicopter system. In the bicopter system, the inertial par…