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Robust-Trajectory-Tracking-for-Quadrotor-UAVs-using-Sliding-Mode-Control

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Robust Trajectory Tracking for Quadrotor UAVs using Sliding Mode Control

Design of a sliding mode controller for altitude and attitude control of the Crazyflie 2.0 to enable the quadrotor to track desired trajectories and visit a set of desired waypoints. Report

Tools Used:

  1. Python
  2. ROS
  3. Gazebo
  4. MATLAB

Outputs:

Tracked_Trajectory_Orthographic_View:

Tracked_Trajectory_Orthographic_View

Tracked_Trajectory_Top_View:

Tracked_Trajectory_Top_View

Position, Velocity, and Acceleration Plots in X:

x_p0_p5

Position, Velocity, and Acceleration Plots in Y:

y_p0_p5

Position, Velocity, and Acceleration Plots in Z:

z_p0_p5

Video - Orthographic View:

traj_ortho_view

Video - Top View:

traj_top_view (1)

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Robust-Trajectory-Tracking-for-Quadrotor-UAVs-using-Sliding-Mode-Control

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robotics matlab ros gazebo trajectory-generation trajectory-optimization robotics-control sliding-mode-control robotics-simulation polynomial-trajectory-planning autonomous-aerial-robotics

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