Control Systems
Optimal Tracking Control of Flight Trajectory for Unmanned Aerial Vehicle (UAV)
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Led a research project focused on optimizing the flight trajectory of a UAV.
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Employed advanced techniques to reduce the UAV's nonlinear dynamic model to a linear system model using state-space representation, enabling the derivation of the optimal trajectory.
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Obtained the solution for the Riccati equation in the infinite horizon case and vector differential equation to formulate the precise control law for optimal trajectory control.
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Implemented the logic and mathematical algorithms to solve the equations, effectively programming the control system in MATLAB.
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Visualized and compared the desired and optimal trajectories, providing valuable insights and validating the effectiveness of the optimal tracking control in the context of UAV flight.
Liquid Level Control System Design
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Designed a PID controller for controlling the liquid level in the plant where the height of the liquid column is of interest and is controlled using the valve speed.
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Solved the integrator windup issue due to the saturation in actuators of the plant which causes the system to go unstable and leads to large overshoots using anti-windup for PID integrator.
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Evaluated that nonlinear systems can be linearized using Taylor Series theorem and can be treated as linear system around an equilibrium point.
Design of a Car Cruise Control System
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Studied the importance of cruise control feature where speed (output variable) of the system (plant) is to be controlled by throttle position (manipulated variable).
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Linearized the nonlinear dynamics of simplified car model for PI controller design in Simulink.
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Observed the behavior of the linear and nonlinear models as they move away from the equilibrium point.
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Performed Hardware-In-Loop testing with Arduino by discretizing the controller.