Safety-critical trajectory tracking control of quadrotor UAVs

被引：0
|
作者：
Sun G.-H. [1 ]
Zeng Q.-S. [1 ]
Cai Z.-Z. [1 ]
机构：
[1] Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Heilongjiang, Harbin
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2023年 / 40卷 / 07期
基金：
中国国家自然科学基金;
关键词：
control barrier function; quadrotor UAVs; safe constraints; terminal sliding mode;
D O I：
10.7641/CTA.2022.20319
中图分类号：
学科分类号：
摘要：
Considering the quadrotor UAVs with safe constraints, a double closed-loop and CBF-QP control framework is proposed to tackle the constrained trajectory tracking problem with model uncertainties and external disturbances. First, a nonsingular fast terminal sliding mode controller is introduced, and a finite-time fast convergence is achieved. Furthermore, the tracking with the state and distance constraints is considered a safety-critical control problem, and the constraints are formulated by control barrier functions. The controller is designed via a quadratic programming process. The proposed control framework is numerically simulated, and the results illustrate the effectiveness and robustness of the proposed control strategy. © 2023 South China University of Technology. All rights reserved.
引用
收藏
页码：1261 / 1269
页数：8
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