Control of VTOL aircraft with position state constraints using the Barrier Lyapunov Function

A Barrier Lyapunov Function (BLF) controller algorithm is proposed for position tracking control of vertical take-off and landing (VTOL) aircraft with position state constraints. When VTOL performs missisons in a narrow space, the VTOL position states have to be restricted within the constrained region. To deal with the above problem, BLFs are employed to prevent position states from violating the constraints. The dynamic surface control method is applied to reduce the "explosion of terms" problem of the back-stepping method. The stability analysis and simulation results illustrate the effectiveness of the proposed controller.