Flight Stabilizing Controllers for Agile Fixed-Wing UAV

In this project, I’ve designed flight stability controllers for an agile fixed-wing UAV under Professor Bijoy Krishna Mukherjee, Department of EEE at BITS Pilani. In particular, I designed and modeled the Longitudinal and Lateral-Directional stability movement controllers of the UAV using the Backstepping Control technique using MATLAB and Simulink. Additionally, I created a wind observer to incorporate environmental disturbances(like wind shears, wind gusts, and atmospheric disturbances) to make the controllers robust and, thus, improve flight capability. The code for this project can be found here.

Autonomous Mars Rover

In 2020, I co-founded CRISS Robotics, a student research technical team for designing and manufacturing an all-terrain 6-wheeled autonomous Mars rover. I developed the high-level electrical architecture and an electronic differential-based drive control system for the rover there, capable of autonomous traversal, equipment servicing using a 6-DOF robotic manipulator, and life detection using a science module. CRISS qualified for the International Rover Challenge in the 2022 finals at Chennai, India, among 16 international teams, then won the International Rover Design Challenge in 2023. You can check out the IRC Report and IRDC Report here.