Adaptive Quaternion Sliding Mode Control for Nano Quadrotors
A globally stable, computationally efficient adaptive SMC framework for nano quadrotors. Validated in 130+ hardware flight trials on a 32 g Crazyflie, enabling flip maneuvers and 3g accelerations.
View on GitHub ↗This project develops an adaptive sliding mode controller for nano quadrotors that resolves the unwinding problem in quaternion-based formulations and the gain overgrowth issue in adaptive schemes. The controller runs at 500 Hz on a Crazyflie nano quadrotor.
Publication
Robust and Agile Quadrotor Flight via Adaptive Unwinding-Free Quaternion Sliding Mode Control Amin Yazdanshenas, Reza Faieghi — IEEE Transactions on Robotics, 2025