Robotics
& Robust Control.

Mechanical Engineering student at UVM Honors College. Specialized in non-linear Sliding Mode Control (SMC) and automated fluid systems for aerospace applications.

Research Thesis

Dual-Quadcopter SMC

Controller Type

Non-linear SMC

Integrator

RK4 (0.001s)

To solve the problem of coordinated aerial lifting, I developed a control architecture for two quadcopters tethered to a single mass. Standard PID fails under the non-linear pendulous disturbances of a payload; my implementation utilizes a **Sliding Surface** for finite-time convergence.

V-Formation

Geometry calculated via VFormationPlanner.m to maintain tension and avoid collisions.

Robustness

Includes chattering reduction using boundary layer saturation ($\phi$).

SMCController.m 
function [u, s] = compute(obj, e, e_dot)
    % Sliding surface: s = e_dot + lambda * e
    s = e_dot + obj.lambda * e;
    
    % Equivalent Control
    u_eq = obj.lambda * e_dot;
    
    % Switching Control (Saturation for Chattering)
    if abs(s) <= obj.phi
        sat_s = s / obj.phi;
    else
        sat_s = sign(s);
    end
    
    u_sw = obj.eta * sat_s;
    u = u_eq + u_sw;
end
Systems Engineering (SEED Team 480)

Autonomous Propellant Sampler

The Problem

Rocket propellant testing traditionally involves days of lab analysis. My team engineered an autonomous sampling device to reduce cycle times to **under 2 hours** by automating the fluid extraction and measurement process for UV/Vis and particulate analysis.

Hardware Integration

  • • Oscilloscope validation of Square Wave flow sensors.
  • • Turntable motor integration for multi-vial handling.
  • • Precision fluid logistics via needle-injection modules.

Critical Specs

  • • Max Voltage: 120V Standard.
  • • Measurement: ~1.8g ± 0.001g precision.
  • • Volume: Supports 25mL DI Water mixing.

CAD & Prototype

Sprint 4 Finalized Design

"Device must function without nitrogen gas supply while maintaining enclosed atmosphere to prevent contamination."

40°

Formation Angle

0.001g

Sampling Precision

2.0hr

Cycle Goal

RK4

Integrator Model