Tracking Control on Closed-Loop-Identification UAV with Constrained Attitude Angle Based on Barrier Lyapunov Function

In this paper, the trajectory tracking problem of the Unmanned Aerial Vehicle (UAV) is considered. Firstly, different from the accurate models adopted in most of existed works, we consider a concise and effective model in which the inertia link delay phenomenon is considered, and an adaptive backstepping controller is designed to handle the model uncertainty. Further-more, considering the fact that the attitude angle of UAV should be limited within a set of range for safety in real flight. To handle this problem, a barrier Lyapunov function (BLF) based adaptive controller is also proposed to achieve the trajectory tracking task while constrains the attitude angles within a set range. Both simulation and experiment results are provided to verify the effectiveness of the proposed methods.