Robust-Trajectory-Tracking-for-a-Quadrotor-using-Sliding-Mode-Control

Overview

¹In this project a sliding mode control for a Quadrotor is designed to enable it to autonomously track a trajectory. A mirco aerial vehicle (MAV) named Crazyflie 2.0 is used as a platform. The simulation of the system is done in ROS Noetic and Gazebo. The trajectory tracked is described below. The Quadrotor is supposed to start from origin (0,0,0) and visit 5 waypoints. The velocity and acceleration at each waypoint is zero. Using these waypoints a quintic rajectory is generated and sliding mode control is used to track the trajectory. The output folder contains the visualization of the trajectory tracked by quadrotor against ground truth and the video of quadrotor tracking the trajectory in gazebo.

• p0 = (0, 0, 0) to p1 = (0, 0, 1) in 5 seconds
• p1 = (0, 0, 1) to p2 = (1, 0, 1) in 15 seconds
• p2 = (1, 0, 1) to p3 = (1, 1, 1) in 15 seconds
• p3 = (1, 1, 1) to p4 = (0, 1, 1) in 15 seconds
• p4 = (0, 1, 1) to p5 = (0, 0, 1) in 15 seconds

This project is protected under copyright policy of the course and hence the code files were not uploaded.

Crazyflie 2.0 Setup in Gazebo

Run the following command below on the ubuntu terminal to install the required packages to run Crazyflie 2.0 simulation in gazebo.

• 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

Then create a new ROS worspace and run the commands below in the src folder to clone the setup files of Crazyflie 2.0

• git clone -b dev/ros-noetic https://github.com/gsilano/CrazyS.git
• git clone -b med18_gazebo9 https://github.com/gsilano/mav_comm.git

Then run following commands in the root of your workspace to build your package.

• rosdep install --from-paths src -i
• rosdep update
• catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False
• catkin build

Now source the setup file of your workspace.

Simulation

To simulate the system, first download the project folder in the source folder of your workspace and build the package. Source the setup file of your workspace. Then spawn the Quadrotor in gazebo by running the following command: roslaunch rotors_gazebo crazyflie2_without_controller.launch Then run the quadrotor control file to simulate the system tracking the trajectory. The output is compared against the groundtruth and saved in trajectory.png file in the output folder. The video of the output can be viewed by playing rbe502_project_video.mp4 file in the output folder.

Footnotes

1. This project was done as part of a graduate course, RBE502 Controls from RBE department of WPI, by myself and dushyant6 under the guidance of Professor Siavash Farzan. ↩