This thesis explored the design and implementation of nonlinear control strategies for quadrotor attitude stabilisation and tracking, to enhance their resilience and performance in the presence of external disturbances

This Capstone project aimed to implement a shared autonomy framework to study the effects of human-robot collaboration in completing a performance based task. The findings from this research are novel and a manuscript for publication is in progress

This 3-phase project covered the design and analysis of classical, modern and optimisation-based controller and observer design techniques for reference tracking of a square wave. Theories implemented include symmetric root-locus, internal model principle, reduced-order Kalman filter, LQR, MPC, etc.

This report presents the development of an Indoor Positioning System to assist navigation in indoor settings. A heading estimator is constructed and combined with a walking distance estimator developed in tandem, to provide an integrated position system