Sliding Mode-Control for Quadrator Trajectory Tracking

Robust Trajectory Tracking for Quadrotor UAVs using Sliding Mode Control - Robot Control course Project, WPI

Untitled.mp4

Setup

Follow the below commands

mkdir -p ~/rbe502_project/src
cd ~/rbe502_project/src
catkin_init_workspace 
cd ~/rbe502_project
catkin init
cd ~/rbe502_project/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/Loahit5101/Sliding-Mode-Control-for-Quadrator-Trajectory-Tracking.git

Running the controller

rosrun control controller.py

Tracked Trajectory

Desired waypoints: (0,0,0)->(0,0,1)->(1,0,1)->(1,1,1)->(0,1,1)->(0,0,1), following a quintic Polynomial trajectory