Codes and reports can be seen here.

Modeling and Control of Inverted Pendulum

Advisor: Dr. G. Scarciotti; Dr. Eric Kerrigan

  • Conducted inverted pendulum modeling with Euler-Lagrange equation and obtained a non-linear model
  • Linearized non-linear model and designed a controller with the model in Simulink
  • Adopted traditional closed-loop control to stabilize the inverted pendulum on the highest point and used model predictive control (MPC) to track a predetermined loop
  • Converted continuous-time system to discrete-time system and then designed the controller
  • Compared discrete-time and continuous-time systems, and realized the importance of the sampling time

System Identification on the Stationary Process Generated by a Dynamic System

Advisor: Dr. Thomas Parisini

  • Conducted theoretical analysis on the stationary process, established AR models by calculating the average value, variance and covariance, and showed theoretically the identification capabilities of AR models of increasing order
  • Performed a simulation with Matlab to obtain the actual parameters
  • Compared theoretical findings with empirical estimates obtained by Least Squares (LS) techniques and showed the effects of colored noise on the LS estimates

Modeling and Control of Multibody Mechanical Systems

Advisor: Dr. S. Evangelou

  • Conducted force analysis on the spring connected to the wheels of grocery trolleys and obtained non-linear model
  • Linearized non-linear model and observed its stability, robustness and other features

Game Theory on Paint-ball Shooting Contest

Advisor: Dr. Richard Vinter

  • Found optimal strategies for Paint-ball shooting contest mathematically
  • Tested and simulated through Matlab and discussed the dependence of parameters

Discrete Time Control Design for the Inverted Pendulum on a Cart

Advisor: Dr. G. Scarciotti

  • Built and discussed analytically the inverted pendulum on a cart
  • Designed both discrete and continuous control laws under certain real-life constraints

Optimization Algorithms on Rosenbrock Function and Constrained Minimization Problem

Advisor: Dr. A. Astolfi

  • Conducted and compared performance of various optimization methods
  • Studied the constrained minimization problem

Multivariable Design of the HI-MAT Experimental Aircraft

Advisor: Dr. I.M.Jamouka

  • Learned the a lightly damped beam example to master its properties, including performance, robustness, sensitivity and designed controller by H_\infty design
  • Performed control design of HI-MAT experimental aircraft and compared different controllers

Harbin Institute of Technology (HIT)-UAV Lab

Advisor: Dr. Guoxing Yin

  • Familiarized with different types of Unmanned Aerial Vehicles (UVA), and conducted flight me- chanics research on quadrotor UAV and fixed-wing UAV
  • Learned the sensors and actuators of UAV, drew Printed Circuit Board (PCB) with Kicard and designed flight control systems
  • Learned MEMS related devices and mastered the skills of measuring zero offset and corresponding parameters of devices, for example, gyroscope and accelerometer
  • Conducted UVA modeling using Simulink and simulated the landing process,and adjusted the PID value to determine the optimal controller
  • Assembled a quadrotor UAV, and used Mission Planner software to calibrate UAV and remote controller

Tianjin University-Adaptive Control Algorithm Lab

Advisor: Dr. Qun Zong

  • Self-learned the knowledge of nonlinear control, adaptive control and robust control
  • Attended the courses including Intelligent Robot System (Perception, Navigation and Control) and Predictive Control to consolidate foundation
  • Participated in adaptive algorithms-related research with group members