8 papers
Vector Field Following for Quadrotors via Reduced Attitude Representations with Applications to Safety-Critical Control
Mohammad Mirtaba, Max H. Cohen
Vector field tracking for quadrotors provides a systematic framework for specifying complex behaviors at the translational level and transferring them to the full vehicle dynamics.…
High Order Tuners for Adaptive Safety of Robotic Systems
Mohammad Mirtaba, Max H. Cohen
The combination of control barrier functions (CBFs) and adaptive control -- a framework referred to as adaptive safety -- has proven to be a powerful paradigm for safety-critical c…
Low-Order Controller Design for Aeroelastic Vibration Suppression
Mohammad Mirtaba, Juan Augusto Paredes Salazar, Daning Huang +1
This paper presents an minimization-based output-feedback controller for active aeroelastic vibration suppression in a cantilevered beam. First…
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…
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…
Single-Shot Learning of Multirotor Controller Gains: A Data-Driven Approach with Experimental Validation
Mohammad Mirtaba, Parham Oveissi, Juan Augusto Paredes Salaza +1
This paper demonstrates the single-shot learning capabilities of retrospective cost optimization based data-driven control applied to learning multirotor controller gains for traje…
Adaptive Backstepping Control of a Bicopter in Pure Feedback Form with Dynamic Extension
Jhon Manuel Portella Delgado, Mohammad Mirtaba, Ankit Goel
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the bac…
Learning-based Attitude Estimation with Noisy Measurements and Unknown Gyro Bias
Parham Oveissi, Mohammad Mirtaba, Ankit Goel
This paper introduces a learning-based, data-driven attitude estimator, called the retrospective cost attitude estimator (RCAE), for the SO(3) attitude representation. RCAE is moti…