Dynamics And Control Projects

Applying Reduced-Order Modelling Techniques to a Tuning Fork

In this project, reduced order modelling is performed to determine best fit state space matrices for a tuning fork. Impulse responses are generated using roving accelerometer on the points marked in…

Controlling Data Driven Systems Using System Identification and Model Reduction

Under this project, data driven numerical methods are used to perform system identification and model reduction. The data sets used are subjected to basic linear algebra techniques such as Principle…

Implementing a PID controller on Irobot Create for wall following while mapping the space

For this project, Robotic Operating System (ROS 2, distro = ‘humble’) is used to implement room mapping through Irobot Create. The documentation for the Irobot Create ROS structure can be found here and the Ros2 documentation can be…

Linear System Identification for Inverted Pendulum Using Convex Optimization

The inverted pendulum system possesses two equilibrium points: a stable equilibrium when the pendulum is vertically downward, and an unstable equilibrium when it is vertically upward. In this study…

Modal Testing of an FSAE Chassis for Mode Shape and Rigid Body Mode Identification

In this project, impact hammer testing is performed in a FSAE chassis to find the rigid body modes and structural mode…

Modelling fish’s oscillatory motion through dynamics of triple pendulum

As an end of the semester project for ME-424 Advanced Dynamics, I modelled a fish’s oscillatory motion through the dynamics of a triple pendulum coupled with springs and dampers. By using the method…

Multi Modal Robotic Traversal of Remote and Rugged Terrain

An Interdisciplinary team of 2 ME’s and 1 EE developed a multi-modal, remote-controlled surveillance drone named Tipsy to traverse chaotic and rugged environments. While being capable of both flying…

Using Gazebo and Ros2 to Simulate And Control an Inverted Pendulum

As an introduction to using Gazebo for simulating physics and controllers, I implemented a PI controller for inverted pendulum. I designed the Gazebo model using .sdf format which consisted of base…

Using Robotic Operating System to Develop Control Architectures.

Under this ongoing project, a discrete PID controller along with a Kalman Filter is developed to control the position of a traditional mass spring damper system. The entire architecture is laid out…