Attitude-position obstacle avoidance of trajectory tracking control for a quadrotor UAV using barrier functions

Longbin Fu, Liwei An and Lili Zhang

International Journal of Systems Science, 2024, vol. 55, issue 16, 3337-3354

Abstract: In this article, an attitude-position obstacle avoidance trajectory tracking control scheme based on barrier functions is proposed for a quadrotor unmanned aerial vehicle (UAV). First, the barrier functions are designed based on the relationship between the position and attitude of the quadrotor UAV and obstacles. Then, by decoupling the quadrotor UAV system into a position control subsystem and an attitude control subsystem and incorporating integral barrier Lyapunov functions (IBLFs) into the backstepping process, a novel obstacle avoidance tracking control strategy for the position subsystem and the attitude subsystem is constructed. Compared with the existing obstacle avoidance results, the designed obstacle avoidance strategy can simultaneously achieve obstacle avoidance on the position and attitude of the quadrotor UAV. Finally, the efficiency of the proposed method is verified by simulation results.

Date: 2024
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2024.2367719 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:55:y:2024:i:16:p:3337-3354

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2024.2367719

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().