Robust Trajectory Tracking for Quadrotor using Sliding Mode Control

Simulation Results

Gazebo simulation

Trajectory tracking

Following plot displays the desired trajectory to be tracked in green and the actual trajectory followed by the quadcopter in blue and their deviation.

About the Project

The objective of this project is to develop a robust control scheme to enable a quadrotor to track desired trajectories in the presence of external disturbances.The control design is tested on the Crazyflie 2.0 platform. Crazyflie is a quadrotor that is classified as a micro air vehicle (MAV), as it only weighs 27 grams and can fit in a hand.

Crazyflie 2.0 Setup in Gazebo

To set up the Crazyflie 2.0 quadrotor in Gazebo, we need to install additional ROS dependencies for building packages as below:

sudo apt update

sudo apt install ros-noetic-joy ros-noetic-octomap-ros ros-noetic-mavlink

sudo apt install ros-noetic-octomap-mapping ros-noetic-control-toolbox

sudo apt install python3-vcstool python3-catkin-tools protobuf-compiler libgoogle-glog-dev

rosdep update

sudo apt-get install ros-noetic-ros libgoogle-glog-dev

Instruction for setting the Enviroment

Clone this repo to create a new ROS workspace for Sliding Mode Controller

git clone https://github.com/PurvangPatel/Robust_Trajectory_Tracking_for_Quadrotor_using_Sliding_Mode_Control.git

Initialize catkin workspace

cd ~/Robust_Trajectory_Tracking_for_Quadrotor_using_Sliding_Mode_Control/src

catkin_init_workspace

cd ~/Robust_Trajectory_Tracking_for_Quadrotor_using_Sliding_Mode_Control

catkin init

Downloading necessary the ROS packages:

cd ~/Robust_Trajectory_Tracking_for_Quadrotor_using_Sliding_Mode_Control/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

We need to build the project workspace using python_catkin_tools, therefore we need to configure it:

cd ~/Robust_Trajectory_Tracking_for_Quadrotor_using_Sliding_Mode_Control

rosdep install --from-paths src -i

rosdep update

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False

catkin build

Running the Project

To spawn the quadrotor in Gazebo, we can run the following launch file:

roslaunch rotors_gazebo crazyflie2_without_controller.launch

To start the controller, we can run the following script file:

rosrun controller sliding_mode_control.py

purvangpatel / robust_trajectory_tracking_for_quadrotor_using_sliding_mode_control Goto Github PK