Welcome to my GitHub profile.

I am a PhD student in the Drone Technology Research Group at the University of Auckland, working on control methods for aerial physical interaction under the supervision of Dr. Karl Stol. I hold an MSc in Mechatronics Engineering and a BSc in Mechanical Engineering, and previously held teaching and research assistant roles focused on UAV control, state estimation, system identification, electric drives, and experimental robotic platforms. My research interests lie at the intersection of adaptive and robust control, hybrid theory, switched systems, sensor fusion, stochastic optimization, and experimental validation. I have also collaborated with Dr. Luis Duffaut Espinosa from the University of Vermont on optimal control for switched systems, with applications to lunar hopping and landing systems.

You can explore my publications on Google Scholar ↗.

Selected repositories are listed below. Private repositories (🔒) may be shared for collaboration.

• 🔒 optimal-funnel-control-underactuated-systems: Stability analysis and funnel control for switched underactuated systems. MATLAB, Hybrid Systems, Switched Systems, LMIs
• 🔒 quadcopter-attitude-altitude-pid-control-simulation: Quadcopter altitude and attitude PID control in MATLAB and Python with animation. UAV, Control
• 🔒 quadcopter-bldc-opticalsensor-speedmeasurement: BLDC motor speed measurement for system identification using an optical sensor. Python, C++, Navio2
• 🔒 quadcopter-parameter-variation-feedback-linearzation-p-control: Adaptive feedback linearization for quadrotor altitude and attitude control under parameter uncertainty. MATLAB, Conference Paper
• 🔒 quadcopter-plus-cross-frame-attitude-rotation: Conversion of roll and pitch commands between plus and cross quadcopter frames using a 45° rotation matrix. MATLAB, UAV, Navio2
• 🔒 quadrotor-nn-modeling: MLP based quadrotor dynamics learning from flight logs. Python, PyTorch, scikit-learn
• 🔒 uav-modeling-identification-control-with-neural-networks: Quadcopter modeling and PID imitation using recurrent neural networks. Python, PyTorch
• 🌐 navio2-quadcopter-autopilot-stack: Quadcopter autopilot stack for Raspberry Pi 4 and Navio2 with sensor drivers, IMU filtering, logging, and control experiments. Python, Navio2, UAV, Control, State Estimation
• 🌐 uav-4dof-test-stand-3dprint-mastercam: Design files for a 4DOF UAV test stand with 3D printed parts and Mastercam files. UAV, 4DOF, 3D Printing, Mastercam, CAD/CAM
• 🌐 battery-soc-estimation-matlab-vbmcckf: MATLAB implementation of the Variational Bayesian Maximum Correntropy Cubature Kalman Filter for Li ion battery SOC estimation. battery-management-system, state-of-charge, state-estimation
• 🌐 grad-electric-drives-project-guide: PMSM and BLDC control using the TI F28379D and Simulink. motor-control, field-oriented-control, launchxl-f28379d
• 🌐 aws-hpc-quickstart: Guide for accessing AUS HPC from Windows using AWS Client VPN, AUS SSO, SSH, Amazon DCV, WinSCP, and Slurm.

I am open to research collaborations in systems and control theory, autonomous robotics, and mechatronics. Reach me at ishaq.hmk@gmail.com.