Stability Preserving Safe Control of a Bicopter
Fuente:
arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866911198539153408 |
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| author | Delgado, Jhon Manuel Portella Goel, Ankit |
| author_facet | Delgado, Jhon Manuel Portella Goel, Ankit |
| contents | This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking performance. Unlike conventional control barrier function methods, the constrained control problem is transformed into an unconstrained one using state-dependent mappings together with carefully constructed Lyapunov functions. This approach enables explicit synthesis of the control law, instead of requiring a solution of constrained optimization at each step. The transformation also enables the controller to enforce safety without sacrificing stability or performance. Simulation results for a polytopic reference trajectory confined within a designated safe region demonstrate the effectiveness of the proposed method. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_07145 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Stability Preserving Safe Control of a Bicopter Delgado, Jhon Manuel Portella Goel, Ankit Systems and Control Optimization and Control This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking performance. Unlike conventional control barrier function methods, the constrained control problem is transformed into an unconstrained one using state-dependent mappings together with carefully constructed Lyapunov functions. This approach enables explicit synthesis of the control law, instead of requiring a solution of constrained optimization at each step. The transformation also enables the controller to enforce safety without sacrificing stability or performance. Simulation results for a polytopic reference trajectory confined within a designated safe region demonstrate the effectiveness of the proposed method. |
| title | Stability Preserving Safe Control of a Bicopter |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2510.07145 |