2 papers
eess.SY2026
Improving INDI for Input Nonaffine Systems via Learning-Based Nonlinear Control Allocation
Adam Hallmark, Pan Zhao
This paper first demonstrates that applying standard incremental nonlinear dynamic inversion (INDI) with incremental control allocation (ICA) to input nonaffine systems relies on a…
eess.SY2026
Neural-NPV Control: Learning Parameter-Dependent Controllers and Lyapunov Functions
MD Abul Kashem Niloy, Adam Hallmark, Yikun Cheng +1
This paper presents Neural-NPV Control, a learning-based framework for joint synthesis of a parameter-dependent (PD) controller and a PD Lyapunov function using neural networks for…