Safety-critical control for a tilt-rotor bicopter using High-Order Control Barrier Functions (HOCBF) and LQR, with guaranteed altitude constraint satisfaction in MATLAB/Simulink.
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Apr 9, 2026 - MATLAB
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bicopter
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MATLAB implementation of Linear, Generalized, Nonlinear, and Robust MPC for a tilt-rotor bicopter — covering LMPC, GPC, DMC, SLMPC, NMPC (IPOPT/SQP), RMPC, and Tube MPC across four mini-projects.
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Apr 9, 2026 - MATLAB
Full autopilot pipeline for a tilt bicopter: 6-DOF dynamics, LQR control, complementary-filter AHRS, and RRT path planning with obstacle avoidance.
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Updated
Apr 9, 2026 - MATLAB
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