6 DOF Non-Linear Quadrotor Adaptation and Obstacle Avoidance with Control Saturation

This work considers the problem of real-time control of dynamic systems in the presence of parametric uncertainties and control saturation. We propose a combination of Control Barrier Functions (CBF) and Adaptive Control (AC). High-Order CBFs are used to generate safe reference commands. Closed Loop reference model are designed to treat control saturation as a disturbance. This is combined with an AC design. The following simulations depict the performance of the proposed Closed Loop Reference Model control algorithm on a linear 6 degrees of freedom quadrotor model subject to parametric uncertainty in control effectiveness. The animations showcase the clear advantages of using the integrative approach.

Adaptation and Obstacle Avoidance Control

1) Plant Trajectories with Control Bounds of [0, 2.0] and 50% Loss of Control Effectiveness: (Top Left) No Adaptive & No CBF, (Top Right) Adaptive & No CBF, (Bottom Left) No Adaptive & CBF, (Bottom Right) Adaptive & CBF.

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

2) Top-Down perspective: Top (No Adaptive Control) Bottom (With Adaptive Control).

Conclusion

The simulations clearly demonstrate the effectiveness of combining Control Barrier Functions with Adaptive Control. By addressing parametric uncertainties and control saturation, this integrative approach significantly enhances the stability and performance of the 6 DOF Quadrotor dynamic system.