Attacker-Resilient Adaptive Path Following of a Quadrotor with Dynamic Path-Dependent Constraints

Xu Jin, Zhongjun Hu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


For most works on constrained motion control in the literature, only constant or time-varying constraints are discussed, which are often conservative and cannot adapt to the dynamically changing operation environment. In this work, in the context of quadrotor operations, we propose a new adaptive path following architecture with dynamic path-dependent constraints, in which the desired path coordinate, desired path speed, and constraint requirements not only depend on a path parameter associated with the desired path, but also can adapt to the presence of an "attacker"nearby. A new concept of "composite barrier function"has been proposed to address both safety and performance constraints in a unified structure. Adaptive laws are introduced to estimate the upper bounds of system uncertainties and unknown "attacker"velocity. Exponential convergence into a small neighborhood around the equilibrium for position tracking error can be guaranteed. In the end, a simulation example further demonstrates the effectiveness of the proposed architecture.

Original languageEnglish
Title of host publication2023 American Control Conference, ACC 2023
Number of pages6
ISBN (Electronic)9798350328066
StatePublished - 2023
Event2023 American Control Conference, ACC 2023 - San Diego, United States
Duration: May 31 2023Jun 2 2023

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2023 American Control Conference, ACC 2023
Country/TerritoryUnited States
CitySan Diego

Bibliographical note

Publisher Copyright:
© 2023 American Automatic Control Council.

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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