Description

The objective of this project was to control a Crazyflie 2.0 quadrotor, enabling it to track the desired trajectory and making it robust against external disturbances. In order to accomplish this, we generated a Sliding Mode Controller with a boundary layer to allow the Crazyflie to follow a trajectory with 5 waypoints, and a quintic polynomial path in between each point. After generating the trajectories and deriving the control laws, the system was implemented in MATLAB using an ODE to evaluate the performance as well as tune the design parameters

My Role

• Implemented the Dynamic Model for a Quadrotor in MATLAB

• Generated 5^th order (quintic) trajectories for position, velocity, and acceleration

• Designed & Implemented boundary layer-based sliding mode control for trajectory tracking