Tracking Control and Obstacle Avoidance of Quad-rotor UAV Based on High-Order Fully Actuated System Approach

The aim of this paper is to explore the quad-rotor UAV tracking control and obstacle avoidance strategies based on the High-Order Fully Actuated system approach. The attitude description of the UAV is firstly established. Considering the uncertainty of UAV parameters and the existence of bounded perturbation, a mathematical model of UAV attitude and position with high-order fully actuated system characteristics is established, and a robust controller based on high-order fully actuated system method is designed. The controller is designed to enable UAVs to track targets and maintain good position and attitude control performance in the face of environmental changes and perturbations, and the controller ensures that the system state converges to almost any ellipsoid area. On the basis of the controller design, this study further considers the obstacle avoidance problem of the quad-rotor UAV. By combining the designed drone controller, an effective obstacle avoidance strategy is designed to ensure that the UAV can avoid obstacles during its movement, thus improving its adaptability and safety in the real environment. Finally, we verify the effectiveness of the designed controller through simulation.