Barrier Lyapunov Function Based Finite-Time Backstepping Control of Quadrotor with Full State Constraints

This paper proposes a Barrier Lyapunov Function (BLF) based finite-time backstepping control of the quadrotor with full states constraints. Firstly, the whole control system is divided into two loops: the inner-loop for the attitude control and the outer-loop for the position control. Secondly, a BLF is constructed to tackle the issue of full state constraints. Then, a finite-time control approach is proposed based on the backstepping technique to ensure that the tracking error converges to zero in finite time. Finally, the simulation results are given to demonstrate the effectiveness of the proposed control method.