Welcome to my GitHub profile.

I am a Mechatronics and Control Systems Researcher working on modeling, control design, simulation, and hardware validation for UAVs and autonomous robotic systems. My work includes:

• Nonlinear, adaptive, robust, and optimal control
• UAV dynamics, flight control, and state estimation
• Hybrid and switched systems, LMIs, and Lyapunov methods
• System identification, optimization, and learning based modeling
• Electric drives and flexible joint systems
• Aerial robotics and physical interaction

You can explore my publications on Google Scholar ↗.

Selected repositories are listed below. Private repositories (🔒) may be shared for research or collaboration.

• 🔒 optimal-funnel-control-underactuated-systems: Stability analysis and funnel control for switched underactuated systems. MATLAB, Hybrid Systems, Switched Systems, LMIs
• 🔒 quadcopter-attitude-altitude-pid-control-simulation: Quadcopter altitude and attitude PID control in MATLAB and Python with animation. UAV, Control
• 🔒 quadcopter-bldc-opticalsensor-speedmeasurement: BLDC motor speed measurement for system identification using an optical sensor. Python, C++, Navio2
• 🔒 quadcopter-parameter-variation-feedback-linearzation-p-control: Adaptive feedback linearization for quadrotor altitude and attitude control under parameter uncertainty. MATLAB, Conference Paper
• 🔒 quadcopter-plus-cross-frame-attitude-rotation: Conversion of roll and pitch commands between plus and cross quadcopter frames using a 45° rotation matrix. MATLAB, UAV, Navio2
• 🔒 quadrotor-nn-modeling: MLP based quadrotor dynamics learning from flight logs. Python, PyTorch, scikit-learn
• 🔒 uav-modeling-identification-control-with-neural-networks: Quadcopter modeling and PID imitation using recurrent neural networks. Python, PyTorch
• 🌐 navio2-quadcopter-autopilot-stack: Quadcopter autopilot stack for Raspberry Pi 4 and Navio2 with sensor drivers, IMU filtering, logging, and control experiments. Python, Navio2, UAV, Control, State Estimation
• 🌐 uav-4dof-test-stand-3dprint-mastercam: Design files for a 4DOF UAV test stand with 3D printed parts and Mastercam files. UAV, 4DOF, 3D Printing, Mastercam, CAD/CAM
• 🌐 battery-soc-estimation-matlab-vbmcckf: MATLAB implementation of the Variational Bayesian Maximum Correntropy Cubature Kalman Filter for Li ion battery SOC estimation. battery-management-system, state-of-charge, state-estimation
• 🌐 grad-electric-drives-project-guide: PMSM and BLDC control using the TI F28379D and Simulink. motor-control, field-oriented-control, launchxl-f28379d
• 🌐 aws-hpc-quickstart: Guide for accessing AUS HPC from Windows using AWS Client VPN, AUS SSO, SSH, Amazon DCV, WinSCP, and Slurm.

I am open to collaboration in control, robotics, and mechatronics R&D.

Reach me at [email protected].