Harsh Modi
PhD Candidate, Mechanical Engineering, Texas A&M University
I design and control robotic hardware, from transformable UAVs to iterative learning control algorithms, taking projects from concept through simulation to flight-tested prototypes. My work sits at the intersection of mechanical design, control theory, and motion planning.
Research Highlights
A few of the projects I've led during my PhD and master's research.
MorphoCopter
A transformable quad–bi copter that morphs mid-flight to reach narrow, constrained spaces.
Disturbance Estimation
Iterative Learning Control with a Disturbance Observer, cutting UAV tracking error by up to 90%.
Pendulum-on-UAV Control
A novel controller for an unactuated pendulum on a quadrotor, achieving 90% task repeatability.
Recent Recognition
MorphoCopter journal article accepted in IEEE/ASME Transactions on Mechatronics (2025), and a follow-on paper on trajectory and morphology planning for morphing quadrotors is under review at IEEE Robotics and Automation Letters. See the full list on the Publications page.