A Target Tracking Controller with Obstacle Avoidance for Quadrotors with Actuation and Performance Constraints
Andreas Tantoulas, Christos Vlachos, Dimitrios Kotsinis, Panagiotis S. Trakas, Charalampos P. Bechlioulis · 2025
In this work, we introduce a novel control strategy for target tracking and obstacle avoidance for quadrotors, designed to operate under both actuation and performance constraints. The proposed control framework guarantees precise trajectory tracking while complying to predefined safety constraints, dynamically adjusting performance characteristics to correspond with real-time operational conditions. The stability of the closed-loop system is validated through a Lyapunov-Based analysis. Finally, comprehensive experiments confirm the robustness and demonstrate the effectiveness of the control scheme in a real-life setting.