12 papers
Constraint-Lifted Sector-Constrained Guidance for Rear-Approach Interception
Jhon Manuel Portella Delgado, Dennis S Bernstein, Ankit Goel
This paper develops a sector-constrained guidance (SCG) law for interception of a maneuvering target while maintaining a prescribed approach geometry. The line of sight is required…
Admissibility-Preserving Constraint Lifting for Conditional Deadbeat Control of Discrete-Time Nonlinear Systems
Jhon Manuel Portella Delgado, Ankit Goel
This paper presents a constraint-enforcing control framework for a class of discrete-time strict- feedback nonlinear systems. The objective is to guarantee closed-loop stability wh…
A Numerical Investigation of Extremum-Seeking-Based Command Generation for Adaptively Controlled Systems
Jhon Manuel Portella Delgado, Aidan Rice, Jacob C. Vander Schaaf +1
We develop an adaptive feedback control technique that combines an extremum-seeking-based command generator (ECG) with indirect adaptive control. In particular, ECG is used to gene…
A Constraint-Lifting Framework for Safe and Stable Nonlinear Control
Jhon Manuel Portella Delgado, Ankit Goel
This paper presents a constraint-lifting control framework for designing stabilizing controllers that guarantee the forward invariance of a prescribed safe set. State-of-the-art sa…
State-Constrained Control of Discrete-Time Nonlinear Systems via Constraint Lifting
Jhon Manuel Portella Delgado, Ankit Goel
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability whi…
Adaptive Constraint-Lifting Control with Stability and Invariance Guarantees
Jhon Manuel Portella Delgado, Ankit Goel
This paper develops an adaptive tracking controller for a class of nonlinear systems with parametric uncertainty subject to state constraints. The system is characterized by a stri…
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…
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…
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…
Adaptive Fidelity-Based Density Tracking for Open Quantum Systems
Jhon Manuel Portella Delgado, Ankit Goel
This paper presents an online learning-based adaptive control framework for density-matrix tracking in a two-level Lindblad-Gorini-Kossakowski-Sudarshan (LGKS) quantum system, in w…
Retrospective Cost-based Extremum Seeking Control with Vanishing Perturbation for Online Output Minimization
Juan A. Paredes, Jhon Manuel Portella, Dennis S. Bernstein +1
Extremum seeking control (ESC) constitutes a powerful technique for online optimization with theoretical guarantees for convergence to the neighborhood of the optimizer under well-…
Circumventing Unstable Zero Dynamics in Input-Output Linearization of Longitudinal Flight Dynamics
Jhon Manuel Portella Delgado, Ankit Goel
In this paper, we consider the problem of input-output linearization of the longitudinal flight dynamics. In longitudinal flight dynamics, inputs are typically thrust and elevator…