Attitude constrained control of quadrotor unmanned aerial vehicle based on compensation function observer

Due to the limitation of the flight environment of the quadrotor UAV and its own actuator，its attitude is often subject to various constraints. To ensure that the attitude always changes within the constraint range，the barrier Lyapunov function（BLF）was introduced to ensure that the attitude always varies within the constraint range to ensure that the system can achieve the preset performance. A compensation function observer based BLF attitude constrained backstepping control（CFO-BLF）scheme was proposed. Simulink simulation compares the CFO-BLF backstepping control， ESO-BLF backstepping control and PID control algorithms by testing the attitude tracking performance of the quadrotor UAV to verify the effectiveness and superiority of CFO-BLF. © 2023 Editorial Board of Jilin University. All rights reserved.