Research &
publications

My papers and theses on UAV flight control, disturbance estimation and trajectory optimization.

Command → response → feedback

Journal article · January 2026ASME

Geometric Disturbance Observer Based Nonlinear Model Predictive Control of a Quadrotor

A disturbance observer and nonlinear predictive controller for estimating and compensating for external disturbances acting on a quadrotor.

Disturbance observer and control architecture from the research

Read the paper

Research archive

Research & publications

My papers and theses on UAV flight control, disturbance estimation and trajectory optimization.

01 / Journal

Geometric Disturbance Observer Based Nonlinear Model Predictive Control of a Quadrotor

M. A. Ahsan, O. De Silva, G. K. I. Mann, R. G. Gosine, and A. Jayasiri

ASME Letters in Dynamic Systems and Control
vol. 6, no. 1, p. 011010, Jan. 2026

02 / Conference

Convex Trajectory Optimization for UAVs using Differential Flatness and Bézier Curves

M. A. Ahsan

33rd Annual Newfoundland Electrical and Computer Engineering Conference (NECEC 2024), St. John's, NL, Canada
November 14, 2024 (conference presentation)

03 / Conference

Active Disturbance Rejection Control of a Quadrotor: A Comparative Study

M. A. Ahsan, H. Z. I. Khan, J. Rajput, and J. Riaz

2022 19th International Bhurban Conference on Applied Sciences and Technology (IBCAST), Islamabad, Pakistan
2022, pp. 444-450

04 / Master's Thesis

Geometric Disturbance Observer Based Nonlinear Model Predictive Control and Trajectory Planning in Safe Convex Corridors for UAVs

Muhammad Adeel Ahsan

Master of Engineering in Electrical Engineering
May 2026

05 / Bachelor's Thesis

Robust Control of a Quadrotor: An ADRC Approach

Muhammad Adeel Ahsan

Bachelor of Science in Aerospace Engineering
August 2021