AI 中文总结
该研究提出结合反步方法与高阶控制障碍函数（HOCBF）的安全全身控制策略，用于四旋翼无人机路径跟踪，可保证避障与路径收敛，经仿真和Crazyflie平台实验验证。
AI 中文摘要
本文提出一种用于四旋翼无人机安全路径跟踪的新型全身反步控制策略。该方法引入集成控制方案，将平移制导控制器与刚体姿态控制器相结合；为保证渐近路径收敛，采用基于人工向量场（AVF）的标称集成制导与控制（IGC）；为实现反应式安全与避障，在高阶控制障碍函数（HOCBF）框架内利用平滑距离函数对控制律进行修正。采用四元数代数建模四旋翼动力学以表征位置、速度与姿态。通过将反步方法与HOCBF结合，控制器可保证无人机避开障碍物集，且在无障碍时成功收敛至目标路径。该方法通过软件在环仿真与基于Crazyflie平台的实际实验结果得到验证。
英文摘要
This paper presents a novel whole-body Backstepping control strategy for safe quadcopter path-following. The proposed approach introduces an integrated control scheme that combines a translational guidance controller with a rigid-body attitude controller. To guarantee asymptotic path convergence, the method utilizes a nominal Integrated Guidance and Control (IGC) based on Artificial Vector Fields (AVF). To ensure reactive safety and collision avoidance, the control law is modified using a smooth distance function within the High-Order Control Barrier Function (HOCBF) framework. The quadcopter dynamics are modeled using quaternion algebra to represent position, velocity, and attitude. By combining the Backstepping approach with HOCBF, the controller guarantees that the vehicle avoids obstacle sets while successfully converging to the target path when unobstructed. The proposed methodology is validated through software-in-the-loop simulations and real-world experimental results using the Crazyflie platform.
