A position control and obstacle avoidance method for quadrotor via approach based on passivity and artificial potential filed

Abstract

A control strategy combining the passive control theory and the artificial potential field method is proposed for the quadrotor UAV to solve the problem of position control and obstacle avoidance. This method divides the whole control system into two parts：the outer loop position controller and the inner loop attitude controller. In the design of the outer loop controller，the passivity theory of the cascade system is adopted，and the appropriate potential field function is selected as the storage function to solve the problem of obstacle avoidance in the process of fixed-point tracking. In the design of inner loop controller，quaternion is used to describe the attitude dynamics of the quadrotor UAV，and the inner loop controller is designed based on the Lyapunov function. Furthermore，the interconnection structure of the passive position subsystem and the attitude subsystem is constructed to ensure the stability of the whole closed-loop system. Finally，the simulation results verify the effectiveness and control performance of the proposed control strategy.