Adaptive Control

Closed-loop controllers that estimate their own plant uncertainty online instead of being scheduled against it. From the Dubins-vehicle paper (IEEE L-CSS 2025) on adaptive path-following with loss of effectiveness, through the augmented MRAC on a magnetic-suspension wind-tunnel rig, to nonlinear quadrotor work that pairs adaptive control with control barrier functions and reference-model gating.

Most of this work was done with Prof. Anuradha Annaswamy's Active-Adaptive Control Lab at MIT.

Dubins vehicle following a square path under loss of turning effectiveness

Dubins Adaptive Control

IEEE L-CSS 2025 · adaptive path-following for a Dubins vehicle under loss of turning effectiveness, with a CBF safety layer.

Magnetic Suspension and Balance System wind-tunnel test rig

Augmented MRAC on the MSBS

LQR-PI baseline plus MRAC augmentation on a 6-DOF magnetic-suspension wind-tunnel rig; ~50 % envelope extension over baseline alone.

Quadrotor with adaptive control and control saturation handling

Quadrotor · Adaptation with Control Saturation

6-DOF nonlinear quadrotor · adaptive control + CBF + actuator saturation handled jointly.

Quadrotor with closed-loop reference model adaptive controller

Quadrotor · CRM Adaptive Control

Closed-loop Reference Model (CRM) shapes transient response of the adaptive 6-DOF quadrotor, with CBF for obstacle avoidance.

Quadrotor with open-loop reference model adaptive controller

Quadrotor · ORM Adaptive Control

Open-loop Reference Model (ORM) baseline · adaptive control + CBF on the same 6-DOF quadrotor for direct comparison.