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Hung La

2 accepted papers

2026

Autonomous Balloon Based Adaptive Sliding Mode Control and Infinite-Horizon POMDP

Van Chung Nguyen, An Nguyen, Chuong Le, Gaurav Srikar, Thanh Nho Do, Hung La
ICRA 2026poster

This paper presents a novel infinite-horizon Partially Observable Markov Decision Process (POMDP) framework with adaptive sliding mode control (ASMC) for autonomous navigation of the balloons. The proposed method integrates an altitude controller designed to account for thermodynamic and real-wind f…

Cited by 0Scholar ↗
2026

SM-NMPC: Sliding Mode-Based Nonlinear Model Predictive Control for UAVs under Degraded Motor on Microcontrollers

Van Chung Nguyen, An Nguyen, Pratik Walunj, Chuong Le, Hung La
ICRA 2026poster

This paper presents a novel Sliding Mode-Based Nonlinear Model Predictive Control (SM-NMPC) for controlling Unmanned Aerial Vehicles (UAVs) such as Quadrotors and a 10-propeller drone (Cube-Drone). The proposed method combines Aggregated Hierarchical Sliding Mode Control (AHSMC) strategies with Nonl…

Cited by 0Source ↗Scholar ↗