Sliding Mode Control

Created a Sliding Mode Controller for the robust control of a simulated quadcopter which takes into account physical actuator limitations and corrects for disturbances. The simulations are running in ROS.

We tested the success of our controller by measuring the expected and actual position and velocities and comparing them. We also had actuator constraints that we could not exceed which are shown in the control inputs chart. The trajectory chart shows how close we were to the actual trajectory we had to fly in.