1. Nonlinear Dynamic Modeling and Receding-Horizon NMPC of an Electric Unicycle on a Tensioned Cable

   Journal of the Franklin Institute, 2026.

                     Links:
                     Accepted Version (PDF)

                     Publisher version (DOI): https://doi.org/10.1016/j.jfranklin.2026.109057

2. Optimal Sliding-Mode Controller Parameterization Using Direct Single-Shooting Under Input Constraints

International Journal of Dynamics and Control, 2026.

Links:
Accepted Manuscript (PDF)
Publisher Version (DOI): https://doi.org/10.1007/s40435-026-02211-0