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math.OC2024
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…
math.OC2024
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…