Robust Sliding Mode Control for Quadrotor

This project worked on developing a robust control scheme to enable a quadrotor to track desired trajectories in the presence of external disturbances, the control design under study is tested on the Crazyflie 2.0 platform on Gazebo.

We start off by designing a quintic polynomial trajectory to ensure the positions, velocities, and accelerations change smoothly for the drone. The trajectory is designed based on the waypoints and timestamps provided.

Using a dynamic model of the quadrotor, a control law is designed based on the Robust Sliding Mode scheme, and parameters for SMC are tuned based on calculations and simulation feedback.