Learning-Augmented MPC for Spacecraft Attitude Control
A controller comparison study for nonlinear spacecraft attitude regulation under model uncertainty, actuator limits, and persistent disturbances.
MPCLQRNeural Residual ModelRigid-Body DynamicsPythonDrakePyTorch
Self-Balancing Robot
I designed and created a self-balancing robot that not only stabilizes itself but also holds position using a cascaded PID architecture on an ESP32, real-time sensing (IMU + encoders), and Wi-Fi/MQTT for live tuning.
Feedback/ControlsSensor ProcessingEmbedded Software (C++)MechatronicsMQTT/IoT
4DOF Kinematic Robotic Arm
Developed a 4DOF robotic arm capable of drawing shapes and characters on a plane, incorporating inverse/forward kinematics, modular CAD design, and servo actuation.
KinematicsCAD ModelingEmbedded Software (C++)Mechanisms & Actuation