四旋翼无人机安全轨迹跟踪控制

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.