Portfolio

Below are some of my projects / tutorials.

PID Control For A Planar Aquatic Vehicle in Point Vortex Flows

In this project, I developed a dynamic model for a novel fluid-propulsive aquatic vehicle in an ideal fluid that exerts control over its motion using impulsi...

Solving the cart-pole swing-up problem with energy shaping and LQR for stabilization

In Stabilizing the cart-pole system using finite-horizon LQR, I discussed how one can implement an LQR controller to stabilize the cart-pole system when the ...

Stabilizing the cart-pole system using finite-horizon LQR

There are a variety of good resources for learning LQR and various other topics in optimal control. For this post, I have referenced Russ Tedrake’s online bo...