Nonlinear Control of a Two-link Planar Manipulator Designed and simulated nonlinear control of a two-link planar manipulator using feedback linearization and Linear-Quadratic Regulator. Further optimization was attempted using Pontryagin's principle and control parameterization. Still a work in progress. Path Tracking Control of a Small Mobile Robot Designed and implemented a path tracking controller of the Thymio robot using ROS. 3D Single Compound Pendulum Simulation of a single compound pendulum in 3D using MATLAB. 3D Double Compound Pendulum Simulation of a double compound pendulum in 3D using MATLAB. Fast Robots In this project-based class, I built an autonomous robot car capable of mapping and navigating its surroundings, all from scratch. Classical Control of an Inverted Pendulum This article provides a walk-through of controller design for an inverted pendulum using classical control techniques in the frequency domain. State-Space Control of an Inverted Pendulum This article provides a walk-through of controller design for an inverted pendulum using state-space methods.
