Using Control Barrier Function in Distributed Explicit Reference Governor

This paper presents an explicit reference governor (ERG) design method, which incorporates control barrier function (CBF) and considers both non-convex and convex constraints in different parts of the system. Specifically, in the dynamic safety margin (DSM) of ERG, non-convex constraints are addressed, while in the navigation field (NF), convex constraints are handled with the assistance of CBF. Furthermore, this paper analyzes attitude tracking errors and constructs a robustness Lyapunov lower bound (RLLB) in the DSM, ensuring that safety constraints are satisfied even in the presence of attitude errors. Through this design, this paper offers a robust and safe reference control framework that effectively addresses flight control problems for UAVs in complex environments. Numerical simulations are provided to validate the efficacy of our proposed methodology.