An open source model predictive control package for Julia.
Code for the paper Feedforward Tuning by Fitting Iterative Learning Control Signal for Precision Motion Systems
VEX Library for Skid-Steer Drive Motion Profiling
Code for the paper Auto-tuning of model-based feedforward controller by feedback control signal in ultraprecision motion systems
Regulatory controller: PID, cascade simulation, integrating vs non-integrating, feed forward controller, controller for a dead-time-dominated system
Time-domain causality visualization of piezoelectric inkjet actuation (voltage → current → mechanics → pressure → ink flow)
End-to-end mobile manipulation pipeline for the KUKA youBot, featuring kinematics simulation, eight-segment trajectory generation, feedforward-plus-feedback control, Jacobian-based velocity commands, and CoppeliaSim-validated pick-and-place execution.
Control of Mobile Robots AY 2024-2025, project work
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