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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…
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…
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…