1 citations · 1 across the 15 of their papers we have counts for
17 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…
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…
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…
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…
Data-driven Fuzzy Control for Time-Optimal Aggressive Trajectory Following
August Phelps, Juan Augusto Paredes Salazar, Ankit Goel
Optimal trajectories that minimize a user-defined cost function in dynamic systems require the solution of a two-point boundary value problem. The optimization process yields an op…
Adaptive Control of Dual-Rotor Rotational System with Unknown Geometry and Unknown Inertia
Mohammad Mirtaba, Jhon Manuel Portella Delgado, Ankit Goel
This paper develops an input-output feedback linearization-based adaptive controller to stabilize and regulate a dual-rotor rotational system (DRRS), whose inertial properties as w…
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…
MPC-guided, Data-driven Fuzzy Controller Synthesis
Juan Augusto Paredes Salazar, Ankit Goel
Model predictive control (MPC) is a powerful control technique for online optimization using system model-based predictions over a finite time horizon. However, the computational c…
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…