• Intuition...
  • ...studying...
  • ...formalizing ideas...
  • ...and veryfing the results

Ongoing Research Projects

Robust Data-Driven Control of Autonomous Vehicles

Robust data-driven control for autonomous aerial and terrestrial robots are created, implemented, and testeded. Teams of Unmanned Aerial Systems (UAS) and Unmanned Ground Vehicles (UGVs) equipped with robotic arms collaborate with one another and with human operators to perform high-precision and high-speed operations.

Sponsor: RCTA, Collaborators: Army Research Lab, Dr. Likhachev (Carnegie Mellon University)

Terramechanics & Autonomous Ground Vehicles' Guidance and Control

In this research, we integrate original terramechanics models with tactical guidance and robust adaptive control algorithms for autonomous ground vehicles operating off-road at high speed.

Sponsor: US Army GVSC

Collaborators: Dr. Sandu (Virginia Tech)

Robust Robotics

Robotic systems are vulnerable to both physical- and cyber-attacks. This research is aimed to design nonlinear robust control algorithms that guarantee user-defined levels of performance despite unknown disturbances injected by external factors.

Sponsor: Northrop Grumman Corporation

Aerial robotics

In this research, we pursue the design of guidance, navigation, and control systems for multi-rotor unmanned aerial manipulators (UAMs) equipped with robotic arms to autonomosly find, pickup, manipulate, and deploy objects in unknown environments.

Collaborators: Army Research Lab

Autonomous UAVs Perofrming Shipboard Landing

We design innovative robust adaptive control algorithms that counteract the effects of severe disturbances and unmodeled dynamics. These theoretical results will be applied to design autopilots for multi-rotor UAVs performing shipboard landing. Special emphasis is given to the study of the ground effect and the wake of ships on multi-rotor UAVs in proximity of the landing pad.

Sponsor: Office of Naval Research (ONR), Collaborators: NAVAIR, Dr. Walters (The University of Oklahoma)

Bio-Inspired GNC System for UAVs Moving in Tactical Terrain

In this research, we design a bio-inspired guidance, navigation, and control sytstem for autopilots of multi-rotor Unmanned Aerial Vehicles (UAVs) operating in potentially hostile areas.

Sponsor: DARPA, Collaborator: Dr. Johnson (Penn State University)

Aerial Robots & Construction Sites

In this research, we design aerial systems equipped with robotic arms able to install sensors that monitor construction sites. Special emphasis is given to the problem of improving both workers' safety and quality of construction processes.

Collaborators: Dr. Afsari (Virginia Tech)

Past Research Projects

Constrained Control Design and UAS

Nonlinear robust control laws for nonlinear dynamical systems subject to constraints on the state, the trajectory tracking error, and the control input are designed. These control laws are tested in simulation and on actual unmanned aerial systems.

Sponsor: National Science Foundation

UAS and Improved Weather Services

In this research, we designed autopilots for UAS collecting data for improved weather forecasts. We also combined an indirect adaptive control law and an unscented Kalman filter to estimate the wind velocity from the effort needed to hover the vehicle.

Sponsor: NOAA

Optimal Control for Finite-Time Stabilization

It is often desireable to attain finite-time stability of a nonlinear system, that is, converging to a Lyapunov stable equilibrium point in finite time. In this research, we provided sufficient conditions for state- and output-feedback optimal finite-time stabilization. YouTube video.

Differential Games of Nonlinear Dynamical Systems

In this research, we studied two-player differential games whose end-of-game condition is the closed-loop asymptotic, partial-state, or finite-time stability of the closed-loop system despite the evader's input. Connections to robust nonlinear control are explored.

Output-Feedback Sliding Mode Control with Constraints on the State Space

Accounting for recent results in the theory of time-varying finite-time stable dynamical systems, in this reseach we designed sliding mode controls for nonlinear constrained dynamical systems. The proposed control law is effective with any observer.

Optimal Semistabilization of Linear and Nonlinear Dynamical Systems

In this research, we derived state-feedback control laws that minimize a performance measure in integral form and guarantee semistability of the closed-loop system. YouTube Videos: Video 1 and Video 2.