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

Setup

Follow these commands

mkdir -p ~/quad_control_ws/src
cd ~/quad_control_ws/src
catkin_init_workspace 
cd ~/quad_control_ws
catkin init
cd ~/quad_control_ws/src
git clone -b dev/ros-noetic https://github.com/gsilano/CrazyS.git
git clone -b med18_gazebo9 https://github.com/gsilano/mav_comm.git
git clone https://github.com/Girivaasan/Robust-Trajectory-Tracking-for-Quadrotor-UAVs-using-Sliding-Mode-Control.git

Running the controller

roslaunch rotors_gazebo crazyflie2_without_controller.launch

Tracked Trajectory

Desired waypoints to be tracked: (0,0,0) --> (0,0,1) --> (1,0,1) --> (1,1,1) --> (0,1,1) --> (0,0,1) in 65 seconds

Plot for desired trajectory

Performance Trajectory plot from Gazebo

Sliding.mode.control.of.a.Quadcopter.mp4

(Note: To generate the log.pkl file that will be used to produce the performance plot, update the path where the file should be created and saved in your PC, in the 'controller.py' file)