Predefined-time safety path-following for unmanned aerial vehicle
WANG Qi-peng
WANG Xiang-ke
ZHU Lin
ZHAO Shu-long
SHEN Lin-cheng
Abstract：In order to enhance the stealthiness of unmanned aerial vehicles(UAVs)in defence,the routes of UAVs are usually close to the surrounding buildings or mountains.Therefore,the UAV should avoid a collision while following the path to ensure flight safety.To solve the problem of fast path-following and obstacle avoidance for the UAV,a predefined-time safety controller is designed in this paper with the help of the fractional order system and control barrier functions.Firstly,the C2 functions are adopted to model the desired path and the boundary of the obstacle,followed by the elaboration of the control problem.Secondly,a fractional adaptive gain is used to design the predefined-time controller for path-following.Then,the control barrier functions and the extended class K functions are used to design the safety controller for obstacle avoidance.Finally,a numerical simulation is designed to verify the superiority of the proposed method.
Keywords：path-followingobstacle avoidancefractional order systemcontrol barrier functionssafety control
Publication Date：2025-06-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 1208-1215 )