Class Projects

CDS 233 | Nonlinear Control | Caltech | Spring 2022

In this project nonlinear control of a quadcopter in 3D space was studied. The performance of various controllers such as a feedback linearizing controller, a min-norm controller, and an adaptive sliding mode controller in the presence of modeling accuracies were tested.

CDS 232 | Nonlinear Dynamics | Caltech | Winter 2022

In this project the dynamics of a double pendulum system were investigated. The chaotic system's sensitivity to perturbations and initial conditions were studied and stability analysis were performed.

ME 133B | Robotics | Caltech | Winter 2022

In this project we studied how to use the RRT algorithm to find a path between some starting point and some goal in presence of fixed and varying obstacles. During the movement of the agent unknown obstacles show up and the agent has to replan to get to the desired goal. 

2.152 | Nonlinear Control | MIT | Spring 2020

In this project a sliding mode controller was designed to stabilize a bi-copter in the presence of modelling errors. The controller was also made adaptive and its it performance in the presence of changing inertial parameters was studied.

2.153 | Adaptive Control | MIT | Fall 2019

In this project we compared the performance between a linear controller and a nonlinear adaptive controller for a quadcopter. We studied the controller performances under various scenarios such as during a motor failure and in the presence of a changing mass. We also used a Parrot Drone to perform hardware experiments.

6.869 | Advances in Computer Vision | MIT | Fall 2019

In this project we presented a method to perform 2D position and orientation estimation of a robot by using a RGB camera, a CNN, and recursive least squares regression. The CNN was trained using transfer learning where the network was provided a small dataset of images with known positions orientations which were obtained by driving around in the toy world.