Robust Dynamic Geofencing Attitude Control for Quadrotor Systems

In this article, a robust disturbance rejection controller is designed for quadrotor attitude tracking within dynamic safety operational envelopes. A scalable constraint technique based on the unified barrier function is developed to transform the attitude restricted within the dynamic safety envelope into a new unconstrained state variables. The closed-form state stabilization control input based on the operational safety rules derived from backstepping method with dynamic surface control can simultaneously guarantee the safety and asymptotic stability of underlying system. A sliding mode disturbance observer is used to estimate and compensate for unknown time-varying perturbations with minor chattering and rapid convergence. Finally, numerical simulations and platform experiments are conducted to verify the effectiveness of the proposed dynamic geofencing attitude control.