Robust Trajectory Tracking for Quadrotor using Sliding Mode Control
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
Before running the project, make sure to change the directory to store log file for visualization
src/controller/scripts/sliding_mode_control.py -> Change directory on line 243
src/controller/scripts/visualization.py -> Change directory on line 20 and 26
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
Simulation Results
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.
Gazebo simulation
