Welcome to my GitHub profile.
I am a PhD student at the University of Auckland in the Drone Technology Research Group, developing control strategies for aerial physical interaction. I hold an MSc in Mechatronics Engineering and a BSc in Mechanical Engineering. I previously held teaching and research roles involving UAV control, state estimation, system identification, electric drives, and experimental robotic platforms. I have also collaborated with the AIR Lab (University of Vermont) on optimal switching control for lunar hoppers. My research interests include control theory, adaptive and robust control, hybrid and switched systems, sensor fusion, and stochastic optimization.
You can explore my publications on Google Scholar ↗.
Selected repositories are listed below. Private repositories (🔒) may be shared for collaboration.
- 🔒 optimal-funnel-control-underactuated-systems: Stability analysis and funnel control for hybrid switched systems.
- 🔒 quadcopter-attitude-altitude-pid-control-simulation: Quadcopter altitude and attitude PID control.
- 🔒 quadcopter-bldc-opticalsensor-speedmeasurement: BLDC motor speed measurement for system identification.
- 🔒 quadcopter-parameter-variation-feedback-linearzation-p-control: Adaptive feedback linearization under parameter uncertainty.
- 🔒 quadcopter-plus-cross-frame-attitude-rotation: roll and pitch motion between plus and cross quadcopter frames.
- 🔒 quadrotor-nn-modeling: MLP based quadrotor dynamics learning from flight logs.
- 🌐 uav-modeling-identification-control-with-neural-networks: Quadcopter modeling and PID imitation using RNN.
- 🌐 navio2-quadcopter-autopilot-stack: Quadcopter autopilot stack for RPi and Navio2.
- 🌐 uav-4dof-test-stand-3dprint-mastercam: UAV test stand with 3D printed parts and Mastercam files.
- 🌐 battery-soc-estimation-matlab-vbmcckf: Variational Bayesian Maximum Correntropy Cubature Kalman Filter for SOC estimation.
- 🌐 grad-electric-drives-project-guide: PMSM and BLDC control using the TI F28379D and Simulink.
I am open to research collaborations in systems and control theory, autonomous robotics, and mechatronics.