M.Sc. Student in Computer Control and Automation @ NTU EEE
2+ years of full-time control R&D experience

Current focus: Humanoid manipulation · tactile-feedback control · adaptive / iterative control

Control Algorithm Engineer @ BBK / SERVOTEST
Multi-DOF control · MIMO system identification · iterative control

Full-time Research Staff @ Beihang University
Technical Lead for a National Key R&D Program subproject

Humanoid dexterous manipulation · tactile feedback · adaptive grasp control

Unitree G1 humanoid + BrainCo Revo2 dexterous hand.
Current work focuses on tactile grasp control, online contact/friction estimation, and adaptive force realization.

Early-stage research · MuJoCo + real-robot validation in progress

MIMO system identification · iterative control · online adaptation

Synthetic MIMO implementation and technical study covering:

• frequency-domain MIMO system identification,
• ICS trial-to-trial iterative correction,
• RICS/HRICS-inspired online model adaptation,
• coherence-based model correction,
• confidence-weighted model blending.

Full MATLAB implementation is maintained privately; methodology, validated synthetic results, and technical documentation are publicly available.

Nonlinear model-based control · coupled multivariable dynamics · prescribed performance · disturbance estimation

Attitude-control development for a strongly coupled nonlinear variable-sweep aircraft. The theoretical framework combines prescribed-performance error constraints, cascaded attitude/angular-rate control, backstepping sliding-mode control, and extended state observer (ESO)-based disturbance compensation.

Engineering work included MATLAB closed-loop simulation, semi-physical simulation experiments using servo actuators, and joint integration and debugging with the client's C++ real-time simulation platform.

Related public technical reconstruction: generic nonlinear MIMO benchmark for PPC, backstepping/SMC, and disturbance-observer validation.

Control
Model-Based Control · MIMO System Identification · ICS/RICS · Adaptive Control · Iterative Learning Control · PPC · SMC · ESO

Robotics
Humanoid Manipulation · Dexterous Hand Control · Tactile Feedback · MuJoCo · ROS/SDK Integration

Programming
MATLAB/Simulink · Python · C/C++