Cart-Pole Matlab & ROS/Gazebo Co-simulation framework developed by erc-dynamics.

Executed sensor fusion by implementing a Complementary Filter to get an enhanced estimation of the vehicle’s overall trajectory, especially in GPS-deprived environments.

I demonstrate a methodology to implement Linear MPC on a non-Linear system of Quadrotor. While the underlying non-linear dynamics are encapsulated, the high-level control is employed to achieve a Linear control system to use a Linear MPC controller.

This project focuses on designing a sliding mode controller for altitude and attitude control of the Crazyflie 2.0 quadrotor. The goal is to enable the quadrotor to track desired trajectories and visit a set of desired waypoints. The project is built on Ubuntu 20.04 and ROS Noetic.