Sergei Chekmarev

- Played a significant role in the development of a wheel torque control system based on the specified acceleration in Matlab/Simulink with code generation in C. - Developed from scratch components such as an odometer, payload estimation, inverter driver, and UDS routines for service functions. - Created various Python scripts to automate routine tasks for debugging and maintaining the control system on a real vehicle.

- Designed the control system architecture from scratch for new Skyrino helicopter. - Developed a nonlinear mathematical model of the helicopter from scratch. - Created prototypes for algorithms related to guidance, control, and navigation. - Suggested market-available devices that meet the required architecture characteristics

Contributed to UAV Braeron's control system dev. Quadcopter project based on Pixhawk, forked in '16. Adapted algorithms, integrated sensors, improved Kalman filter (redundancy, IMU zero-offset, dead reckoning, terrain elevation). Developed PID controllers for attitude/position. Enhanced guidance with new modes (circular flight, 'go around'). Corrected nonlinear math model through flight tests. Focused on Simulink algorithm dev, translated to autopilot firmware in C++.

I developed control systems for technological processes based on the manufacturer's requirements. The development included creating algorithms for PLC controllers and developing schemes for SCADA. Completed projects include: • Pump control for a fire station to maintain pressure during firefighting in a settlement. • Control of a water treatment plant from water intake in the river to filling reservoirs with drinking water (7 stages of purification). • Control of a wastewater treatment plant.

I corrected the nonlinear mathematical model of the UAV Altius aircraft and control system algorithms using flight test data. I conducted MIL tests for flight tasks, which involved calculating fuel consumption, flight time, and other parameters. Additionally, I executed HIL tests for all aircraft equipment integrated into the control system, following a specified test plan

I developed control laws for the Ansat helicopter to mitigate external disturbances. These included an adaptive PID controller, fuzzy algorithms, an observer, incremental nonlinear dynamic inversion (INDI), and neural networks. My primary focus was on the INDI controller, which exhibited exceptional results in simulation models.

Thesis: "An automated control system for the unmanned aerial vehicle during flight experiments near the runway"

Thesis: "Synthesis of control laws with limited knowledge of the helicopter's mathematical model"