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eess.SY2026
CAPE: Control Algorithm Performance Evaluation under Learned Vehicle Dynamics Models
Malik Ali, Musabbir Ahmed Arrafi, Nicholas M. Stiffler +1
We propose the Control Algorithm Performance Evaluation (CAPE) framework, a systematic methodology for benchmarking racing controllers under our proposed learned enhanced physics m…
eess.SY2023
Adaptive Modified RISE Control for Quadrotors: Enhancing Trajectory Tracking Through Uncertainty Compensation
Kevin Johnston, Musabbir Ahmed Arrafi, Krishna B Kidambi +1
This paper presents an adaptive modified Robust Inverse of Signum Error (AM-RISE) control method, which achieves reliable trajectory tracking control for a quadrotor unmanned aeria…