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 & Safety-Critical Control
Exact-time and finite-time convergent tracking for quadrotors and surface vessels, with barrier-function guarantees that keep states inside safe regions.
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 →Admissibility-Preserving Control
Dynamic input realizations that keep actuator inputs inside asymmetric, rate, and joint capacity limits by construction, with backstepping-based tracking guarantees.
Explore →Cooperative Aerial Manipulation
Multi-UAV cooperative strategies for manipulation and load transport, combining formation control with geometric guidance principles.
Explore →
