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

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 an adaptive path-following architecture with environment-aware dynamic 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. '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 small neighborhoods around the equilibrium for position and attitude tracking errors can be guaranteed. In the end, a simulation example further demonstrates the effectiveness of the proposed architecture.