Trajectory Tracking Control of Quadrotors via Robust Control Barrier Function

Quadcopters are widely utilized in industries such as aerial photography, surveillance, cinematography, and transportation due to their simple structure and ease of takeoff and landing, which have become the preferred choice for small-scale aircraft in the civil aviation sector. However, ensuring safety control for these inherently unstable systems is crucial. Imposing multiple dynamic constraints to achieve safe regulation poses a challenging problem. In this paper, we propose a Quadratic Programming (QP)-based filtering approach to enhance safety. We explicitly consider the nonlinear underactuated dynamics of quadcopters and utilize Control Barrier Functions (CBFs) in cascaded controller to construct safety regions. We demonstrate the preservation of safety and stability in quadcopter motion within the $\operatorname{SE}(3)$ space. Additionally, we introduce unknown disturbances during the motion and employ a robust controller to ensure the system maintains safety and stability.