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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…