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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…