Robust Inner Loop Control of a 6-DOF Rotary Wing Unmanned Aircraft System

Control Theory Robust Control Matlab

This report describes the process of synthesizing a series of inner loop controllers using H ∞ and μ synthesis techniques for an 11 state rotary wing micro air vehicle with analysis of their robustness properties.

06 May 2020

Implementing Machine Learning Models with Luxonis Depthai Camera

TensorFlow MyriadX OpenCV

Tutorial for setting up a Raspberry Pi for embedded machine learning with the intel MyriadX VPU.

04 May 2020

Feedback Linearization

Control Theory Matlab

Brief introduction to non-linear control and developing a control law using feedback linearization.

30 April 2020

Classification of the Mnist Dataset via Linear Programming

Optimization Matlab

The determination of binary classifier hyperplane coefficients by linear programming.

25 April 2020

Inverted Pendulum

Control Theory Matlab

Brief analysis of the rotary inverted pendulum and designing a stabilizing control law.

16 April 2020

Sudoku Solver via Optimization

Optimization Matlab

The development of a sudoku solver based off linear programming and backsolving.

09 April 2020

Control of Time Delayed System

Control Theory Matlab

Brief analysis of the rotary inverted pendulum and designing a stabilizing control law.

01 April 2020

Controller Design of Ball and Beam System

Control Theory Matlab Simulink Quanser

The design of a state feedback system with an LQR controller. Includes system identification using Lagrangian dynamics.

19 March 2020

Maximum Load of Truss by Linear Programming

Optimization Matlab

The determination of an optimal solution to a truss topology problem using linear programming techniques in Matlab.

16 March 2020

Controller Design of Pendulum System

Control Theory Matlab Simulink Quanser

The design of a state feedback system with a derivative filter and LQR & LQI control laws. Includes system identification using random phase multi-sine.

21 February 2020

Diet Optimization Problem

Optimization Matlab

The optimal diet based on weighted constraints using linear programming.

13 February 2020

System Identification of a Geared DC Motor

Control Theory Matlab Simulink Quanser

The process of system identification using time and frequency domain based techniques.

04 February 2020

Multi-Rotor Aircraft Analysis

Control Theory Matlab

The design of a state feedback system and state observer for a quad-copter. Includes analysis of controllability and stabilizability.

14 December 2019

Overview of MEMS Optical Switches

MEMS

A review and comparison of MEMS based optical switch technologies

11 December 2019

Literature Review of Twisted and Coiled Polymer Actuators

Soft Actuators

A review of the applications and theory of TCP actuators.

22 November 2019

Jitter and Timed Loop Performance

Control Theory Matlab

Describes the concept of jitter and how it pertains to timed loops, and the effects on performance.

09 May 2019

FPGA and Instability due to Sampling

Control Theory Matlab

Describes how FPGA interface reduces computational overhead and how low sampling rates can make a system unstable with a stable controller.

07 May 2019

Discrete Time Control Implementation

Control Theory Matlab

Indirect controller design simulation and implementation using the National Instruments MyRIO.

07 May 2019

Sampling and Reconstruction

Control Theory Matlab

This report describes the Shannon Sampling Theorem and how its properties can be applied to the Nyquist frequency using a sample signal. Signal aliasing can be attributed to sampling and reconstruction, which will be proven with an example signal in combination with different filters for convolution.

14 March 2019

Feedback Control with an RRC Circuit

Control Theory Matlab

Proportional contol of an RRC circuit with analysis of performance measures.

28 February 2019

RRC Circuit Characteristics

Control Theory Matlab

Determining a model for a circuit based off the idealized elements and using system identification to determine a time constant.

05 February 2019