Safety-critical control of planar quadcopters under dynamic event-triggered mechanism

Abstract

This paper aims to solve the problem of safety-critical control, i.e., safe flight of planar quadcopters in complex environments. By introducing input-to-state safe barrier function (ISSf-BF), the attitude, position, speed, and other key parameters of planar quadcopters are fully considered to realize safety-critical control. Also, a dynamic event-triggered mechanism (DETM) is constructed, and Zeno phenomenon is ruled out based on the constructed DETM. By monitoring the relative distance and speed changes between planar quadcopters and the boundary of the safe zone, the control action is triggered only when the control strategy needs to be adjusted, which effectively reduces the unnecessary waste of computation and communication resources. Finally, a series of simulation experiments are demonstrated to verify the feasibility of the proposed method.