Control of an Articulated Vehicle with Feedback Linearization

Feedback linearization for quadrotors

In this repository, The nonlinear control for a wind turbine driven by a variable-speed pump-controlled hydraulic servo system has been investigated.

Project for Automatic Control Systems III Course / Winter Semester 2020

Projects of Nonlinear Systems and Control Exam (A.Y. 2022/2023) from Prof. Ticozzi

Regulation and trajectory tracking of flexible joint link. State transformation and feedback linearization are applied. It is a solution of Assignment2 in Fundamentals of Robot Control course for ROCV master's program at Innopolis University.

Robotics PhD student at Georgia Tech's FACTS Lab, where I design provably safe autonomous flight controllers for real quadrotors. My research spans Control Barrier Functions, nonlinear control, and optimization-based methods — published at ACC, IEEE TCST, and IEEE TRO. I also build open-source tools for the robotics community.

The code accompanying the 2026 TCST Submission "Lightweight Tracking Control for Computationally Constrained Systems with Newton-Raphson Flow". Users of this code will straightforwardly be able to replicate our simulation results for quadrotor and miniature blimp.

🎯 Comparison of model-based Feedback Linearization Control and model-free Soft Actor-Critic for a two-joint robotic manipulator in the Gymnasium Reacher-v5 environment.

Comparison of different control algorithms for a robotic arm. Miniprojects from the course "Control Theory in Robotics" during my 1st semester of the Master's.

Controlling an RRBOT manipulator with feedback linearization by generating a desired trajectory

Discrete LQR control for determining the optimal inhibitor dose level for an anti-angiogenic therapy based on a mathematical model of tumor growth dynamics.

This repository is related to my graduation course conclusion work

Nonlinear control of a two-wheeled inverted pendulum (Segway): Lagrangian modeling, Sliding Mode Control & Feedback Linearization with Lyapunov stability proofs, and MATLAB simulations comparing the controllers (MEEN 655, Texas A&M).

This repository contains the project for the Nonlinear Dynamics and Control exam. The assignment involved analyzing the characteristics of a chosen nonlinear model and subsequently implementing nonlinear control techniques.

Application of robot control tools

Neural network–based controller (NARMA-L2) for Anti-Lock Braking Systems, designed to regulate wheel slip more accurately than a traditional PID.

Master thesis — Control of a Ball-Balancing Robot (Aalborg University, 2020): quaternion dynamics, unscented Kalman filters, nonlinear feedback linearization. MATLAB/Simulink + firmware/ROS patches.

Non-linear control of a 2-DOF robotic arm: Euler-Lagrange modeling, feedback linearization, Lyapunov stability, and Arduino hardware implementation