Controls Embedded AI GNC

Control loops, robotics, and learning algorithms

Talos: self-balancing robot on STM32 + Jetson Orin Nano.

Icarus: rocket GNC simulator from cascade PID to successive convexification.

Talos Autonomous Robot Engineering System
Phase 2.5 / 7 — Balance PID
Next Phase 4 — LQR
Stack STM32 · Embedded C · Jetson
Icarus Autonomous Rocket Engineering Simulation
Phase 1.5 / 4 — 3-DOF PID
Next Phase 2 — Euler angles
Stack C++17 · Eigen3 · Rerun

01 Talos

Phase 2.5 — balance PID in progress

Talos

Autonomous Robot Engineering System

  • STM32 F446RE inner balance loop at ~200 Hz in embedded C
  • Jetson Orin Nano for planning, telemetry, and future MPC/vision
  • Phase 1 complete: per-wheel PI velocity control with encoder feedback
  • Phase 2 complete: BNO055 IMU state estimation validated on bench
  • Phase 3: balance PID on assembled chassis
View repo →
Phase 2.5 — Balance PID STM32 F446RE Embedded C BNO055 Encoder PI Jetson Orin Nano PlotJuggler UART Telemetry 200 Hz Loop Sabertooth 2x12 LiPo
Phase 2.5 — bench build
Talos physical bench build — wired hardware on Yahboom chassis
Yahboom 2WD chassis  ·  STM32 F446RE + Sabertooth wired  ·  bench test rig
Phase 1 telemetry
Phase 1 — per-wheel PI velocity control telemetry in PlotJuggler
Per-wheel PI velocity control  ·  PlotJuggler via UART bridge  ·  20 Hz  ·  wheels elevated

02 Icarus

Live telemetry — scrub the timeline

Icarus

Autonomous Rocket Engineering Simulation

  • Simulation-only rocket vertical landing GNC
  • Progressive: 1-DOF cascade PID → 6-DOF successive convexification (SpaceX Falcon 9 approach)
  • Each phase validated by trajectory plots — landing velocity, fuel use, disturbance rejection
View repo →
Phase 1.5 — Live C++17 3-DOF Cascade PID Wind Model Moving Landing Pad Anti-windup RK4 Rerun CMake Eigen3
Click to interact  ·  Esc to release
Phase 1.5 — 3-DOF cascade PID  ·  300 m descent, wind + moving pad  ·  Vz = −0.30 m/s  ·  pad miss < 0.1 m  ·  178 kg fuel    ↓ .rrd

03 Upcoming

Next phases
Talos — Next

Phase 4 — LQR

Replace balance PID with a linear quadratic regulator. Full state feedback on x = [θ, θ̇, v] with optimal gain matrix computed offline.

Icarus — Next

Phase 2 — 6-DOF Rotation

Euler angle attitude dynamics with gimbal-based thrust vector control. Full rotational state: roll, pitch, yaw, angular rates.