Barrier Lyapunov Function Based Trajectory Tracking Controller of a Quadrotor UAV

This paper presents backstepping constraint control approaches for a quadrotor unmanned aerial vehicle (UAV) control system. The proposed methods are applied to a Parrot Mambo drone model to control rotational motion along the x, y, and z axes during hovering and trajectory tracking. The backstepping constraint control method, based on barrier Lyapunov functions, is designed not only to track the desired trajectory but also to guarantee no violation of the position and angle constraints. Symmetric and asymmetric barrier Lyapunov functions are introduced in the design of the controller. A nonlinear mathematical model is considered in this study. Based on Lyapunov stability theory, it can be concluded that the proposed controllers can guarantee the stability of the UAV system and the state converges asymptotically to the desired trajectory. Validation of the proposed controllers was performed by simulation on a flying UAV system.