Research Areas
My work focuses on developing mathematically rigorous guidance and control strategies for autonomous systems, with provable safety and convergence guarantees.
Path Following Guidance
Nonlinear guidance laws for UAVs to follow arbitrary 3D paths with bounded control inputs, under wind disturbances and model uncertainties.
Explore →Trajectory Tracking
Controllers ensuring exact-time or finite-time convergence for quadrotors and surface vessels under uncertain dynamics and state constraints.
Explore →Cooperative Pursuit-Evasion
Multi-agent nonlinear guidance strategies for cooperative pursuit-evasion scenarios with guaranteed capture and evasion conditions.
Explore →Interceptor Guidance & Control
Impact-time and impact-angle constrained guidance laws, including exact-time convergent strategies against moving and stationary targets.
Explore →Safety-Critical Control
Barrier Lyapunov function and Control Barrier Function based approaches for provably safe control of constrained nonlinear systems.
Explore →Cooperative Aerial Manipulation
Multi-UAV cooperative strategies for manipulation and load transport, combining formation control with geometric guidance principles.
Explore →
