6 DOF Non-Linear Quadrotor Adaptation and Obstacle Avoidance

This project addresses the challenge of real-time control for dynamic systems, specifically focusing on a six degrees of freedom (6 DOF) quadrotor, under conditions of parametric uncertainties. Our proposed solution integrates Control Barrier Functions (CBF) with Adaptive Control (AC). High-Order CBFs are utilized to create safe reference commands, while Closed Loop reference models are designed to enhance system stability. The combination with AC design aims to further improve system performance. The following simulations illustrate the effectiveness of the Closed Loop Reference Model control algorithm applied to a 6 DOF quadrotor model facing parametric uncertainties in control effectiveness. The animations vividly demonstrate the advantages of this integrated approach.

Adaptation and Obstacle Avoidance Control

1) Plant Trajectories with Control Limits of [0, 2.0] and 50% Reduction in Control Effectiveness: (Top Left) Without Adaptive Control & CBF, (Top Right) With Adaptive Control & Without CBF, (Bottom Left) Without Adaptive Control & With CBF, (Bottom Right) With Adaptive Control & CBF.

No Adaptive Control and No CBF Adaptive Control and No CBF No Adaptive Control and CBF Adaptive Control and CBF

Conclusion

The simulations convincingly show the benefits of integrating Control Barrier Functions with Adaptive Control. This combined approach effectively manages parametric uncertainties, significantly improving the stability and performance of the 6 DOF quadrotor dynamic system.