3 papers
eess.SY2026
Quasi-Static Fault-Tolerant Feedback Control of a Quadrotor under Rotor Failure with Provable Safety Guarantees
Mohamed Al Lawati, Adeel Akhtar
This paper presents a nonlinear control law for a quadrotor unmanned aerial vehicle (UAV) under single-rotor failure that guarantees set stabilization via quasi-static feedback (QS…
math.OC2026
Modeling and Control of a Unicycle Robot on Manifolds
Adeel Akhtar, Mohamed Al Lawati
This paper studies path-following control for a kinematic unicycle evolving on a smooth manifold embedded in \(\mathbb{R}^3\). The objective is to stabilize a one-dimensional path…
math.OC2026
Path-following Control of a Quadrotor using Quasi-Static Transverse Feedback Linearization
Mohamed Al Lawati, Adeel Akhtar
We propose a quasi-static transverse feedback linearization (QSTFL) controller for a quadrotor to follow a prescribed geometric path, rather than a time-parameterized trajectory. I…