The objective of this project is to develop a robust control scheme using sliding mode control to enable a quadrotor to track desired trajectories in the presence of external disturbances. The developed controller is tested on the crazyflie 2.0 quadcopter simulation in Gazebo.

1. The dynamic model for the quadcopter can be found here.
2. The project report documenting the dervations of trajectories, sliding mode control laws for the attitude and altitude control of the quadcopter can be found here.